diff --git a/Engine/lib/bullet/AUTHORS.txt b/Engine/lib/bullet/AUTHORS.txt index 556e6f641..1bff63207 100644 --- a/Engine/lib/bullet/AUTHORS.txt +++ b/Engine/lib/bullet/AUTHORS.txt @@ -2,17 +2,21 @@ Bullet Physics is created by Erwin Coumans with contributions from the following AMD Apple +Yunfei Bai Steve Baker Gino van den Bergen +Jeff Bingham Nicola Candussi Erin Catto Lawrence Chai Erwin Coumans -Christer Ericson Disney Animation +Benjamin Ellenberger +Christer Ericson Google Dirk Gregorius Marcus Hennix +Jasmine Hsu MBSim Development Team Takahiro Harada Simon Hobbs @@ -20,6 +24,7 @@ John Hsu Ole Kniemeyer Jay Lee Francisco Leon +lunkhound Vsevolod Klementjev Phil Knight John McCutchan @@ -32,9 +37,9 @@ Russel Smith Sony Jakub Stephien Marten Svanfeldt +Jie Tan Pierre Terdiman Steven Thompson Tamas Umenhoffer -Yunfei Bai If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3 diff --git a/Engine/lib/bullet/CMakeLists.txt b/Engine/lib/bullet/CMakeLists.txt index 26e662c97..f0e62d396 100644 --- a/Engine/lib/bullet/CMakeLists.txt +++ b/Engine/lib/bullet/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 2.4.3) set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true) - +cmake_policy(SET CMP0017 NEW) #this line has to appear before 'PROJECT' in order to be able to disable incremental linking SET(MSVC_INCREMENTAL_DEFAULT ON) PROJECT(BULLET_PHYSICS) -SET(BULLET_VERSION 2.85) +FILE (STRINGS "VERSION" BULLET_VERSION) IF(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) @@ -15,7 +15,6 @@ IF(COMMAND cmake_policy) endif(POLICY CMP0042) ENDIF(COMMAND cmake_policy) - IF (NOT CMAKE_BUILD_TYPE) # SET(CMAKE_BUILD_TYPE "Debug") SET(CMAKE_BUILD_TYPE "Release") @@ -27,8 +26,33 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG") OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON) OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF) -OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) -OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF) +OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) + +OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF) +IF (BULLET2_USE_THREAD_LOCKS) + OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF) + OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) + IF (MSVC) + OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) + ENDIF (MSVC) +ENDIF (BULLET2_USE_THREAD_LOCKS) + + +IF(NOT WIN32) + SET(DL ${CMAKE_DL_LIBS}) + IF(CMAKE_SYSTEM_NAME MATCHES "Linux") + MESSAGE("Linux") + SET(OSDEF -D_LINUX) + ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux") + IF(APPLE) + MESSAGE("Apple") + SET(OSDEF -D_DARWIN) + ELSE(APPLE) + MESSAGE("BSD?") + SET(OSDEF -D_BSD) + ENDIF(APPLE) + ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux") +ENDIF(NOT WIN32) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) @@ -85,15 +109,60 @@ IF(MSVC) ADD_DEFINITIONS(-D_WIN64) ELSE() OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON) + option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON) + IF (USE_MSVC_SSE) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE") ENDIF() + IF (USE_MSVC_SSE2) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2") + ENDIF() + ENDIF() + + option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF) + + IF(USE_MSVC_AVX) + add_definitions(/arch:AVX) + ENDIF() + OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON) IF (USE_MSVC_FAST_FLOATINGPOINT) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") ENDIF() + OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON) + IF (USE_MSVC_STRING_POOLING) + SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}") + ENDIF() + + OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON) + IF(USE_MSVC_FUNCTION_LEVEL_LINKING) + SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF") + ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING) + + OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF) + + + + OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON) + + IF(USE_MSVC_COMDAT_FOLDING) + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF") + ENDIF() + + OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON) + IF(USE_MSVC_DISABLE_RTTI) + STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI + SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}") + ENDIF(USE_MSVC_DISABLE_RTTI) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267") ENDIF(MSVC) @@ -163,6 +232,30 @@ IF(BULLET2_USE_THREAD_LOCKS) ENDIF (NOT MSVC) ENDIF (BULLET2_USE_THREAD_LOCKS) +IF (BULLET2_USE_OPEN_MP_MULTITHREADING) + ADD_DEFINITIONS("-DBT_USE_OPENMP=1") + IF (MSVC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp") + ELSE (MSVC) + # GCC, Clang + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") + ENDIF (MSVC) +ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING) + +IF (BULLET2_USE_TBB_MULTITHREADING) + SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.") + SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.") + find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR}) + find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR}) + ADD_DEFINITIONS("-DBT_USE_TBB=1") + INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} ) + LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} ) +ENDIF (BULLET2_USE_TBB_MULTITHREADING) + +IF (BULLET2_USE_PPL_MULTITHREADING) + ADD_DEFINITIONS("-DBT_USE_PPL=1") +ENDIF (BULLET2_USE_PPL_MULTITHREADING) + IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) @@ -208,19 +301,40 @@ IF (APPLE) ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) +# Optional Python configuration +# builds pybullet automatically if all the requirements are met +SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.") +SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 ) +SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS}) +SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH}) +OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF) +IF(EXACT_PYTHON_VERSION) + set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED) +ENDIF(EXACT_PYTHON_VERSION) +# first find the python interpreter +FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG}) +# python library should exactly match that of the interpreter +FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT) +SET(DEFAULT_BUILD_PYBULLET OFF) +IF(PYTHONLIBS_FOUND) + SET(DEFAULT_BUILD_PYBULLET ON) +ENDIF(PYTHONLIBS_FOUND) +OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET}) -OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) +OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON) +OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON) IF(BUILD_PYBULLET) - FIND_PACKAGE(PythonLibs) OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF) OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON) - - IF(BUILD_PYBULLET_NUMPY) - set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake) + OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON) + + OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF) + + IF(BUILD_PYBULLET_NUMPY) #include(FindNumPy) FIND_PACKAGE(NumPy) if (PYTHON_NUMPY_FOUND) @@ -230,13 +344,25 @@ IF(BUILD_PYBULLET) message("NumPy not found") endif() ENDIF() - OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) IF(WIN32) SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE) ELSE(WIN32) SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE) ENDIF(WIN32) + + IF(APPLE) + OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON) + IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) + add_definitions(-DB3_NO_PYTHON_FRAMEWORK) + ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) + OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF) + IF(BUILD_PYBULLET_SHOW_PY_VERSION) + add_definitions(-DB3_DUMP_PYTHON_VERSION) + ENDIF() + + ENDIF(APPLE) + ENDIF(BUILD_PYBULLET) IF(BUILD_BULLET3) @@ -272,14 +398,6 @@ IF(BUILD_BULLET2_DEMOS) SUBDIRS(examples) ENDIF() - IF (BULLET2_USE_THREAD_LOCKS) - OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF) - OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) - IF (MSVC) - OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) - ENDIF (MSVC) - ENDIF (BULLET2_USE_THREAD_LOCKS) - ENDIF(BUILD_BULLET2_DEMOS) @@ -290,7 +408,6 @@ IF(BUILD_EXTRAS) ENDIF(BUILD_EXTRAS) -#Maya Dynamica plugin is moved to http://dynamica.googlecode.com SUBDIRS(src) @@ -305,7 +422,15 @@ ELSE() ENDIF() ENDIF() + IF(INSTALL_LIBS) + #INSTALL of other files requires CMake 2.6 + IF(BUILD_EXTRAS) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + ENDIF(BUILD_EXTRAS) + SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" ) SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name") ## the following are directories where stuff will be installed to @@ -319,12 +444,8 @@ IF(INSTALL_LIBS) DESTINATION ${PKGCONFIG_INSTALL_PREFIX}) ENDIF(NOT MSVC) -ENDIF(INSTALL_LIBS) +ENDIF() -#INSTALL of other files requires CMake 2.6 -IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) - OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF) -ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON) @@ -335,9 +456,8 @@ ENDIF() set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet ) list (APPEND BULLET_LIBRARIES LinearMath) -IF(BUILD_BULLET3) - list (APPEND BULLET_LIBRARIES BulletInverseDynamics) -ENDIF(BUILD_BULLET3) +list (APPEND BULLET_LIBRARIES Bullet3Common) +list (APPEND BULLET_LIBRARIES BulletInverseDynamics) list (APPEND BULLET_LIBRARIES BulletCollision) list (APPEND BULLET_LIBRARIES BulletDynamics) list (APPEND BULLET_LIBRARIES BulletSoftBody) @@ -346,7 +466,11 @@ configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake @ONLY ESCAPE_QUOTES ) -install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake +OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON) + +IF (INSTALL_CMAKE_FILES) + install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake DESTINATION ${BULLET_CONFIG_CMAKE_PATH} ) +ENDIF (INSTALL_CMAKE_FILES) diff --git a/Engine/lib/bullet/README.md b/Engine/lib/bullet/README.md index 28821e4e3..6224da8b5 100644 --- a/Engine/lib/bullet/README.md +++ b/Engine/lib/bullet/README.md @@ -49,36 +49,48 @@ All source code files are licensed under the permissive zlib license **Windows** -Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln +Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln +When asked, convert the projects to a newer version of Visual Studio. +If you installed Python in the C:\ root directory, the batch file should find it automatically. +Otherwise, edit this batch file to choose where Python include/lib directories are located. **Windows Virtual Reality sandbox for HTC Vive and Oculus Rift** -Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln -Edit this batch file to choose where Python include/lib directories are located. Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build. You can connect from Python pybullet to the sandbox using: ``` import pybullet as p -p.connect(p.SHARED_MEMORY) +p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234) ``` **Linux and Mac OSX gnu make** +Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org) + In a terminal type: - cd build3 + ./build_cmake_pybullet_double.sh +This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet. +The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser. + +You can also build Bullet using premake. There are premake executables in the build3 folder. Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines - - ./premake4_linux gmake - ./premake4_linux64 gmake - ./premake4_osx gmake - +Using premake: +``` + cd build3 + ./premake4_linux gmake --double + ./premake4_linux64 gmake --double + ./premake4_osx gmake --double --enable_pybullet +``` Then - +``` cd gmake make +``` + +Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries. **Mac OSX Xcode** diff --git a/Engine/lib/bullet/VERSION b/Engine/lib/bullet/VERSION index 7cf322cf9..3274853c8 100644 --- a/Engine/lib/bullet/VERSION +++ b/Engine/lib/bullet/VERSION @@ -1 +1 @@ -2.85 +2.87 diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h index cd6e1a892..a3648df1a 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -25,1005 +25,7 @@ #include "btBroadphaseProxy.h" #include "btOverlappingPairCallback.h" #include "btDbvtBroadphase.h" - -//#define DEBUG_BROADPHASE 1 -#define USE_OVERLAP_TEST_ON_REMOVES 1 - -/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. -/// It uses quantized integers to represent the begin and end points for each of the 3 axis. -/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead. -template -class btAxisSweep3Internal : public btBroadphaseInterface -{ -protected: - - BP_FP_INT_TYPE m_bpHandleMask; - BP_FP_INT_TYPE m_handleSentinel; - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - class Edge - { - public: - BP_FP_INT_TYPE m_pos; // low bit is min/max - BP_FP_INT_TYPE m_handle; - - BP_FP_INT_TYPE IsMax() const {return static_cast(m_pos & 1);} - }; - -public: - class Handle : public btBroadphaseProxy - { - public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - // indexes into the edge arrays - BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 -// BP_FP_INT_TYPE m_uniqueId; - btBroadphaseProxy* m_dbvtProxy;//for faster raycast - //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject - - SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} - SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} - }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry - - -protected: - btVector3 m_worldAabbMin; // overall system bounds - btVector3 m_worldAabbMax; // overall system bounds - - btVector3 m_quantize; // scaling factor for quantization - - BP_FP_INT_TYPE m_numHandles; // number of active handles - BP_FP_INT_TYPE m_maxHandles; // max number of handles - Handle* m_pHandles; // handles pool - - BP_FP_INT_TYPE m_firstFreeHandle; // free handles list - - Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) - void* m_pEdgesRawPtr[3]; - - btOverlappingPairCache* m_pairCache; - - ///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. - btOverlappingPairCallback* m_userPairCallback; - - bool m_ownsPairCache; - - int m_invalidPair; - - ///additional dynamic aabb structure, used to accelerate ray cast queries. - ///can be disabled using a optional argument in the constructor - btDbvtBroadphase* m_raycastAccelerator; - btOverlappingPairCache* m_nullPairCache; - - - // allocation/deallocation - BP_FP_INT_TYPE allocHandle(); - void freeHandle(BP_FP_INT_TYPE handle); - - - bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1); - -#ifdef DEBUG_BROADPHASE - void debugPrintAxis(int axis,bool checkCardinality=true); -#endif //DEBUG_BROADPHASE - - //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); - //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); - - - - void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); - void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); - void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); - void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); - -public: - - btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false); - - virtual ~btAxisSweep3Internal(); - - BP_FP_INT_TYPE getNumHandles() const - { - return m_numHandles; - } - - virtual void calculateOverlappingPairs(btDispatcher* dispatcher); - - BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); - void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher); - void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); - SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} - - virtual void resetPool(btDispatcher* dispatcher); - - void processAllOverlappingPairs(btOverlapCallback* callback); - - //Broadphase Interface - virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); - virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); - virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; - - virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); - virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); - - - void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const; - ///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result - void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; - - bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); - - btOverlappingPairCache* getOverlappingPairCache() - { - return m_pairCache; - } - const btOverlappingPairCache* getOverlappingPairCache() const - { - return m_pairCache; - } - - void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback) - { - m_userPairCallback = pairCallback; - } - const btOverlappingPairCallback* getOverlappingPairUserCallback() const - { - return m_userPairCallback; - } - - ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame - ///will add some transform later - virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const - { - aabbMin = m_worldAabbMin; - aabbMax = m_worldAabbMax; - } - - virtual void printStats() - { -/* printf("btAxisSweep3.h\n"); - printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); - printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(), - m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ()); - */ - - } - -}; - -//////////////////////////////////////////////////////////////////// - - - - -#ifdef DEBUG_BROADPHASE -#include - -template -void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality) -{ - int numEdges = m_pHandles[0].m_maxEdges[axis]; - printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); - - int i; - for (i=0;im_handle); - int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; - char beginOrEnd; - beginOrEnd=pEdge->IsMax()?'E':'B'; - printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); - } - - if (checkCardinality) - btAssert(numEdges == m_numHandles*2+1); -} -#endif //DEBUG_BROADPHASE - -template -btBroadphaseProxy* btAxisSweep3Internal::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) -{ - (void)shapeType; - BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy); - - Handle* handle = getHandle(handleId); - - if (m_raycastAccelerator) - { - btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0); - handle->m_dbvtProxy = rayProxy; - } - return handle; -} - - - -template -void btAxisSweep3Internal::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) -{ - Handle* handle = static_cast(proxy); - if (m_raycastAccelerator) - m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher); - removeHandle(static_cast(handle->m_uniqueId), dispatcher); -} - -template -void btAxisSweep3Internal::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) -{ - Handle* handle = static_cast(proxy); - handle->m_aabbMin = aabbMin; - handle->m_aabbMax = aabbMax; - updateHandle(static_cast(handle->m_uniqueId), aabbMin, aabbMax,dispatcher); - if (m_raycastAccelerator) - m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher); - -} - -template -void btAxisSweep3Internal::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) -{ - if (m_raycastAccelerator) - { - m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax); - } else - { - //choose axis? - BP_FP_INT_TYPE axis = 0; - //for each proxy - for (BP_FP_INT_TYPE i=1;i -void btAxisSweep3Internal::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) -{ - if (m_raycastAccelerator) - { - m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback); - } else - { - //choose axis? - BP_FP_INT_TYPE axis = 0; - //for each proxy - for (BP_FP_INT_TYPE i=1;im_aabbMin,handle->m_aabbMax)) - { - callback.process(handle); - } - } - } - } -} - - - -template -void btAxisSweep3Internal::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const -{ - Handle* pHandle = static_cast(proxy); - aabbMin = pHandle->m_aabbMin; - aabbMax = pHandle->m_aabbMax; -} - - -template -void btAxisSweep3Internal::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const -{ - Handle* pHandle = static_cast(proxy); - - unsigned short vecInMin[3]; - unsigned short vecInMax[3]; - - vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ; - vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ; - vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ; - vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ; - vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ; - vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ; - - aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ())); - aabbMin += m_worldAabbMin; - - aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ())); - aabbMax += m_worldAabbMin; -} - - - - -template -btAxisSweep3Internal::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator) -:m_bpHandleMask(handleMask), -m_handleSentinel(handleSentinel), -m_pairCache(pairCache), -m_userPairCallback(0), -m_ownsPairCache(false), -m_invalidPair(0), -m_raycastAccelerator(0) -{ - BP_FP_INT_TYPE maxHandles = static_cast(userMaxHandles+1);//need to add one sentinel handle - - if (!m_pairCache) - { - void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); - m_pairCache = new(ptr) btHashedOverlappingPairCache(); - m_ownsPairCache = true; - } - - if (!disableRaycastAccelerator) - { - m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache(); - m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache); - m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs - } - - //btAssert(bounds.HasVolume()); - - // init bounds - m_worldAabbMin = worldAabbMin; - m_worldAabbMax = worldAabbMax; - - btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; - - BP_FP_INT_TYPE maxInt = m_handleSentinel; - - m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; - - // allocate handles buffer, using btAlignedAlloc, and put all handles on free list - m_pHandles = new Handle[maxHandles]; - - m_maxHandles = maxHandles; - m_numHandles = 0; - - // handle 0 is reserved as the null index, and is also used as the sentinel - m_firstFreeHandle = 1; - { - for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) - m_pHandles[i].SetNextFree(static_cast(i + 1)); - m_pHandles[maxHandles - 1].SetNextFree(0); - } - - { - // allocate edge buffers - for (int i = 0; i < 3; i++) - { - m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16); - m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2]; - } - } - //removed overlap management - - // make boundary sentinels - - m_pHandles[0].m_clientObject = 0; - - for (int axis = 0; axis < 3; axis++) - { - m_pHandles[0].m_minEdges[axis] = 0; - m_pHandles[0].m_maxEdges[axis] = 1; - - m_pEdges[axis][0].m_pos = 0; - m_pEdges[axis][0].m_handle = 0; - m_pEdges[axis][1].m_pos = m_handleSentinel; - m_pEdges[axis][1].m_handle = 0; -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - - } - -} - -template -btAxisSweep3Internal::~btAxisSweep3Internal() -{ - if (m_raycastAccelerator) - { - m_nullPairCache->~btOverlappingPairCache(); - btAlignedFree(m_nullPairCache); - m_raycastAccelerator->~btDbvtBroadphase(); - btAlignedFree (m_raycastAccelerator); - } - - for (int i = 2; i >= 0; i--) - { - btAlignedFree(m_pEdgesRawPtr[i]); - } - delete [] m_pHandles; - - if (m_ownsPairCache) - { - m_pairCache->~btOverlappingPairCache(); - btAlignedFree(m_pairCache); - } -} - -template -void btAxisSweep3Internal::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const -{ -#ifdef OLD_CLAMPING_METHOD - ///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax] - ///see http://code.google.com/p/bullet/issues/detail?id=87 - btVector3 clampedPoint(point); - clampedPoint.setMax(m_worldAabbMin); - clampedPoint.setMin(m_worldAabbMax); - btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; - out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); - out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); - out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); -#else - btVector3 v = (point - m_worldAabbMin) * m_quantize; - out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax); - out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax); - out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax); -#endif //OLD_CLAMPING_METHOD -} - - -template -BP_FP_INT_TYPE btAxisSweep3Internal::allocHandle() -{ - btAssert(m_firstFreeHandle); - - BP_FP_INT_TYPE handle = m_firstFreeHandle; - m_firstFreeHandle = getHandle(handle)->GetNextFree(); - m_numHandles++; - - return handle; -} - -template -void btAxisSweep3Internal::freeHandle(BP_FP_INT_TYPE handle) -{ - btAssert(handle > 0 && handle < m_maxHandles); - - getHandle(handle)->SetNextFree(m_firstFreeHandle); - m_firstFreeHandle = handle; - - m_numHandles--; -} - - -template -BP_FP_INT_TYPE btAxisSweep3Internal::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) -{ - // quantize the bounds - BP_FP_INT_TYPE min[3], max[3]; - quantize(min, aabbMin, 0); - quantize(max, aabbMax, 1); - - // allocate a handle - BP_FP_INT_TYPE handle = allocHandle(); - - - Handle* pHandle = getHandle(handle); - - pHandle->m_uniqueId = static_cast(handle); - //pHandle->m_pOverlaps = 0; - pHandle->m_clientObject = pOwner; - pHandle->m_collisionFilterGroup = collisionFilterGroup; - pHandle->m_collisionFilterMask = collisionFilterMask; - pHandle->m_multiSapParentProxy = multiSapProxy; - - // compute current limit of edge arrays - BP_FP_INT_TYPE limit = static_cast(m_numHandles * 2); - - - // insert new edges just inside the max boundary edge - for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) - { - - m_pHandles[0].m_maxEdges[axis] += 2; - - m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; - - m_pEdges[axis][limit - 1].m_pos = min[axis]; - m_pEdges[axis][limit - 1].m_handle = handle; - - m_pEdges[axis][limit].m_pos = max[axis]; - m_pEdges[axis][limit].m_handle = handle; - - pHandle->m_minEdges[axis] = static_cast(limit - 1); - pHandle->m_maxEdges[axis] = limit; - } - - // now sort the new edges to their correct position - sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false); - sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false); - sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false); - sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false); - sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true); - sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true); - - - return handle; -} - - -template -void btAxisSweep3Internal::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher) -{ - - Handle* pHandle = getHandle(handle); - - //explicitly remove the pairs containing the proxy - //we could do it also in the sortMinUp (passing true) - ///@todo: compare performance - if (!m_pairCache->hasDeferredRemoval()) - { - m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher); - } - - // compute current limit of edge arrays - int limit = static_cast(m_numHandles * 2); - - int axis; - - for (axis = 0;axis<3;axis++) - { - m_pHandles[0].m_maxEdges[axis] -= 2; - } - - // remove the edges by sorting them up to the end of the list - for ( axis = 0; axis < 3; axis++) - { - Edge* pEdges = m_pEdges[axis]; - BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; - pEdges[max].m_pos = m_handleSentinel; - - sortMaxUp(axis,max,dispatcher,false); - - - BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; - pEdges[i].m_pos = m_handleSentinel; - - - sortMinUp(axis,i,dispatcher,false); - - pEdges[limit-1].m_handle = 0; - pEdges[limit-1].m_pos = m_handleSentinel; - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis,false); -#endif //DEBUG_BROADPHASE - - - } - - - // free the handle - freeHandle(handle); - - -} - -template -void btAxisSweep3Internal::resetPool(btDispatcher* /*dispatcher*/) -{ - if (m_numHandles == 0) - { - m_firstFreeHandle = 1; - { - for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++) - m_pHandles[i].SetNextFree(static_cast(i + 1)); - m_pHandles[m_maxHandles - 1].SetNextFree(0); - } - } -} - - -extern int gOverlappingPairs; -//#include - -template -void btAxisSweep3Internal::calculateOverlappingPairs(btDispatcher* dispatcher) -{ - - if (m_pairCache->hasDeferredRemoval()) - { - - btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); - - //perform a sort, to find duplicates and to sort 'invalid' pairs to the end - overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); - - overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); - m_invalidPair = 0; - - - int i; - - btBroadphasePair previousPair; - previousPair.m_pProxy0 = 0; - previousPair.m_pProxy1 = 0; - previousPair.m_algorithm = 0; - - - for (i=0;iprocessOverlap(pair); - } else - { - needsRemoval = true; - } - } else - { - //remove duplicate - needsRemoval = true; - //should have no algorithm - btAssert(!pair.m_algorithm); - } - - if (needsRemoval) - { - m_pairCache->cleanOverlappingPair(pair,dispatcher); - - // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); - // m_overlappingPairArray.pop_back(); - pair.m_pProxy0 = 0; - pair.m_pProxy1 = 0; - m_invalidPair++; - gOverlappingPairs--; - } - - } - - ///if you don't like to skip the invalid pairs in the array, execute following code: - #define CLEAN_INVALID_PAIRS 1 - #ifdef CLEAN_INVALID_PAIRS - - //perform a sort, to sort 'invalid' pairs to the end - overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); - - overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); - m_invalidPair = 0; - #endif//CLEAN_INVALID_PAIRS - - //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); - } - -} - - -template -bool btAxisSweep3Internal::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) -{ - const Handle* pHandleA = static_cast(proxy0); - const Handle* pHandleB = static_cast(proxy1); - - //optimization 1: check the array index (memory address), instead of the m_pos - - for (int axis = 0; axis < 3; axis++) - { - if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || - pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) - { - return false; - } - } - return true; -} - -template -bool btAxisSweep3Internal::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1) -{ - //optimization 1: check the array index (memory address), instead of the m_pos - - if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || - pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] || - pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] || - pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) - { - return false; - } - return true; -} - -template -void btAxisSweep3Internal::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) -{ -// btAssert(bounds.IsFinite()); - //btAssert(bounds.HasVolume()); - - Handle* pHandle = getHandle(handle); - - // quantize the new bounds - BP_FP_INT_TYPE min[3], max[3]; - quantize(min, aabbMin, 0); - quantize(max, aabbMax, 1); - - // update changed edges - for (int axis = 0; axis < 3; axis++) - { - BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; - BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; - - int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; - int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; - - m_pEdges[axis][emin].m_pos = min[axis]; - m_pEdges[axis][emax].m_pos = max[axis]; - - // expand (only adds overlaps) - if (dmin < 0) - sortMinDown(axis, emin,dispatcher,true); - - if (dmax > 0) - sortMaxUp(axis, emax,dispatcher,true); - - // shrink (only removes overlaps) - if (dmin > 0) - sortMinUp(axis, emin,dispatcher,true); - - if (dmax < 0) - sortMaxDown(axis, emax,dispatcher,true); - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - } - - -} - - - - -// sorting a min edge downwards can only ever *add* overlaps -template -void btAxisSweep3Internal::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) -{ - - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pPrev = pEdge - 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pEdge->m_pos < pPrev->m_pos) - { - Handle* pHandlePrev = getHandle(pPrev->m_handle); - - if (pPrev->IsMax()) - { - // if previous edge is a maximum check the bounds and add an overlap if necessary - const int axis1 = (1 << axis) & 3; - const int axis2 = (1 << axis1) & 3; - if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2)) - { - m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev); - if (m_userPairCallback) - m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev); - - //AddOverlap(pEdge->m_handle, pPrev->m_handle); - - } - - // update edge reference in other handle - pHandlePrev->m_maxEdges[axis]++; - } - else - pHandlePrev->m_minEdges[axis]++; - - pHandleEdge->m_minEdges[axis]--; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pPrev; - *pPrev = swap; - - // decrement - pEdge--; - pPrev--; - } - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - -} - -// sorting a min edge upwards can only ever *remove* overlaps -template -void btAxisSweep3Internal::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) -{ - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pNext = pEdge + 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) - { - Handle* pHandleNext = getHandle(pNext->m_handle); - - if (pNext->IsMax()) - { - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pNext->m_handle); - const int axis1 = (1 << axis) & 3; - const int axis2 = (1 << axis1) & 3; - - // if next edge is maximum remove any overlap between the two handles - if (updateOverlaps -#ifdef USE_OVERLAP_TEST_ON_REMOVES - && testOverlap2D(handle0,handle1,axis1,axis2) -#endif //USE_OVERLAP_TEST_ON_REMOVES - ) - { - - - m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); - if (m_userPairCallback) - m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); - - } - - - // update edge reference in other handle - pHandleNext->m_maxEdges[axis]--; - } - else - pHandleNext->m_minEdges[axis]--; - - pHandleEdge->m_minEdges[axis]++; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pNext; - *pNext = swap; - - // increment - pEdge++; - pNext++; - } - - -} - -// sorting a max edge downwards can only ever *remove* overlaps -template -void btAxisSweep3Internal::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) -{ - - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pPrev = pEdge - 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pEdge->m_pos < pPrev->m_pos) - { - Handle* pHandlePrev = getHandle(pPrev->m_handle); - - if (!pPrev->IsMax()) - { - // if previous edge was a minimum remove any overlap between the two handles - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pPrev->m_handle); - const int axis1 = (1 << axis) & 3; - const int axis2 = (1 << axis1) & 3; - - if (updateOverlaps -#ifdef USE_OVERLAP_TEST_ON_REMOVES - && testOverlap2D(handle0,handle1,axis1,axis2) -#endif //USE_OVERLAP_TEST_ON_REMOVES - ) - { - //this is done during the overlappingpairarray iteration/narrowphase collision - - - m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); - if (m_userPairCallback) - m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); - - - - } - - // update edge reference in other handle - pHandlePrev->m_minEdges[axis]++;; - } - else - pHandlePrev->m_maxEdges[axis]++; - - pHandleEdge->m_maxEdges[axis]--; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pPrev; - *pPrev = swap; - - // decrement - pEdge--; - pPrev--; - } - - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - -} - -// sorting a max edge upwards can only ever *add* overlaps -template -void btAxisSweep3Internal::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) -{ - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pNext = pEdge + 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) - { - Handle* pHandleNext = getHandle(pNext->m_handle); - - const int axis1 = (1 << axis) & 3; - const int axis2 = (1 << axis1) & 3; - - if (!pNext->IsMax()) - { - // if next edge is a minimum check the bounds and add an overlap if necessary - if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2)) - { - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pNext->m_handle); - m_pairCache->addOverlappingPair(handle0,handle1); - if (m_userPairCallback) - m_userPairCallback->addOverlappingPair(handle0,handle1); - } - - // update edge reference in other handle - pHandleNext->m_minEdges[axis]--; - } - else - pHandleNext->m_maxEdges[axis]--; - - pHandleEdge->m_maxEdges[axis]++; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pNext; - *pNext = swap; - - // increment - pEdge++; - pNext++; - } - -} - - - -//////////////////////////////////////////////////////////////////// - +#include "btAxisSweep3Internal.h" /// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. /// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats. @@ -1048,4 +50,3 @@ public: }; #endif - diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h new file mode 100644 index 000000000..2c4d41bc0 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h @@ -0,0 +1,1022 @@ +//Bullet Continuous Collision Detection and Physics Library +//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +// +// btAxisSweep3.h +// +// Copyright (c) 2006 Simon Hobbs +// +// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. +// +// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: +// +// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +// +// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +// +// 3. This notice may not be removed or altered from any source distribution. + +#ifndef BT_AXIS_SWEEP_3_INTERNAL_H +#define BT_AXIS_SWEEP_3_INTERNAL_H + +#include "LinearMath/btVector3.h" +#include "btOverlappingPairCache.h" +#include "btBroadphaseInterface.h" +#include "btBroadphaseProxy.h" +#include "btOverlappingPairCallback.h" +#include "btDbvtBroadphase.h" + +//#define DEBUG_BROADPHASE 1 +#define USE_OVERLAP_TEST_ON_REMOVES 1 + +/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. +/// It uses quantized integers to represent the begin and end points for each of the 3 axis. +/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead. +template +class btAxisSweep3Internal : public btBroadphaseInterface +{ +protected: + + BP_FP_INT_TYPE m_bpHandleMask; + BP_FP_INT_TYPE m_handleSentinel; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + class Edge + { + public: + BP_FP_INT_TYPE m_pos; // low bit is min/max + BP_FP_INT_TYPE m_handle; + + BP_FP_INT_TYPE IsMax() const {return static_cast(m_pos & 1);} + }; + +public: + class Handle : public btBroadphaseProxy + { + public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // indexes into the edge arrays + BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 +// BP_FP_INT_TYPE m_uniqueId; + btBroadphaseProxy* m_dbvtProxy;//for faster raycast + //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject + + SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} + }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry + + +protected: + btVector3 m_worldAabbMin; // overall system bounds + btVector3 m_worldAabbMax; // overall system bounds + + btVector3 m_quantize; // scaling factor for quantization + + BP_FP_INT_TYPE m_numHandles; // number of active handles + BP_FP_INT_TYPE m_maxHandles; // max number of handles + Handle* m_pHandles; // handles pool + + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list + + Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) + void* m_pEdgesRawPtr[3]; + + btOverlappingPairCache* m_pairCache; + + ///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. + btOverlappingPairCallback* m_userPairCallback; + + bool m_ownsPairCache; + + int m_invalidPair; + + ///additional dynamic aabb structure, used to accelerate ray cast queries. + ///can be disabled using a optional argument in the constructor + btDbvtBroadphase* m_raycastAccelerator; + btOverlappingPairCache* m_nullPairCache; + + + // allocation/deallocation + BP_FP_INT_TYPE allocHandle(); + void freeHandle(BP_FP_INT_TYPE handle); + + + bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1); + +#ifdef DEBUG_BROADPHASE + void debugPrintAxis(int axis,bool checkCardinality=true); +#endif //DEBUG_BROADPHASE + + //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + + + + void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + +public: + + btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false); + + virtual ~btAxisSweep3Internal(); + + BP_FP_INT_TYPE getNumHandles() const + { + return m_numHandles; + } + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher); + void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher); + void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} + + virtual void resetPool(btDispatcher* dispatcher); + + void processAllOverlappingPairs(btOverlapCallback* callback); + + //Broadphase Interface + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + + void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const; + ///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result + void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback) + { + m_userPairCallback = pairCallback; + } + const btOverlappingPairCallback* getOverlappingPairUserCallback() const + { + return m_userPairCallback; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_worldAabbMin; + aabbMax = m_worldAabbMax; + } + + virtual void printStats() + { +/* printf("btAxisSweep3.h\n"); + printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(), + m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ()); + */ + + } + +}; + +//////////////////////////////////////////////////////////////////// + + + + +#ifdef DEBUG_BROADPHASE +#include + +template +void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality) +{ + int numEdges = m_pHandles[0].m_maxEdges[axis]; + printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); + + int i; + for (i=0;im_handle); + int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; + char beginOrEnd; + beginOrEnd=pEdge->IsMax()?'E':'B'; + printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); + } + + if (checkCardinality) + btAssert(numEdges == m_numHandles*2+1); +} +#endif //DEBUG_BROADPHASE + +template +btBroadphaseProxy* btAxisSweep3Internal::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher) +{ + (void)shapeType; + BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher); + + Handle* handle = getHandle(handleId); + + if (m_raycastAccelerator) + { + btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher); + handle->m_dbvtProxy = rayProxy; + } + return handle; +} + + + +template +void btAxisSweep3Internal::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + if (m_raycastAccelerator) + m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher); + removeHandle(static_cast(handle->m_uniqueId), dispatcher); +} + +template +void btAxisSweep3Internal::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + handle->m_aabbMin = aabbMin; + handle->m_aabbMax = aabbMax; + updateHandle(static_cast(handle->m_uniqueId), aabbMin, aabbMax,dispatcher); + if (m_raycastAccelerator) + m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher); + +} + +template +void btAxisSweep3Internal::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;i +void btAxisSweep3Internal::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;im_aabbMin,handle->m_aabbMax)) + { + callback.process(handle); + } + } + } + } +} + + + +template +void btAxisSweep3Internal::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + aabbMin = pHandle->m_aabbMin; + aabbMax = pHandle->m_aabbMax; +} + + +template +void btAxisSweep3Internal::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + + unsigned short vecInMin[3]; + unsigned short vecInMax[3]; + + vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ; + vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ; + vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ; + vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ; + vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ; + vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ; + + aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ())); + aabbMin += m_worldAabbMin; + + aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ())); + aabbMax += m_worldAabbMin; +} + + + + +template +btAxisSweep3Internal::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator) +:m_bpHandleMask(handleMask), +m_handleSentinel(handleSentinel), +m_pairCache(pairCache), +m_userPairCallback(0), +m_ownsPairCache(false), +m_invalidPair(0), +m_raycastAccelerator(0) +{ + BP_FP_INT_TYPE maxHandles = static_cast(userMaxHandles+1);//need to add one sentinel handle + + if (!m_pairCache) + { + void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); + m_pairCache = new(ptr) btHashedOverlappingPairCache(); + m_ownsPairCache = true; + } + + if (!disableRaycastAccelerator) + { + m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache(); + m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache); + m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs + } + + //btAssert(bounds.HasVolume()); + + // init bounds + m_worldAabbMin = worldAabbMin; + m_worldAabbMax = worldAabbMax; + + btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; + + BP_FP_INT_TYPE maxInt = m_handleSentinel; + + m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; + + // allocate handles buffer, using btAlignedAlloc, and put all handles on free list + m_pHandles = new Handle[maxHandles]; + + m_maxHandles = maxHandles; + m_numHandles = 0; + + // handle 0 is reserved as the null index, and is also used as the sentinel + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[maxHandles - 1].SetNextFree(0); + } + + { + // allocate edge buffers + for (int i = 0; i < 3; i++) + { + m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16); + m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2]; + } + } + //removed overlap management + + // make boundary sentinels + + m_pHandles[0].m_clientObject = 0; + + for (int axis = 0; axis < 3; axis++) + { + m_pHandles[0].m_minEdges[axis] = 0; + m_pHandles[0].m_maxEdges[axis] = 1; + + m_pEdges[axis][0].m_pos = 0; + m_pEdges[axis][0].m_handle = 0; + m_pEdges[axis][1].m_pos = m_handleSentinel; + m_pEdges[axis][1].m_handle = 0; +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + + } + +} + +template +btAxisSweep3Internal::~btAxisSweep3Internal() +{ + if (m_raycastAccelerator) + { + m_nullPairCache->~btOverlappingPairCache(); + btAlignedFree(m_nullPairCache); + m_raycastAccelerator->~btDbvtBroadphase(); + btAlignedFree (m_raycastAccelerator); + } + + for (int i = 2; i >= 0; i--) + { + btAlignedFree(m_pEdgesRawPtr[i]); + } + delete [] m_pHandles; + + if (m_ownsPairCache) + { + m_pairCache->~btOverlappingPairCache(); + btAlignedFree(m_pairCache); + } +} + +template +void btAxisSweep3Internal::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const +{ +#ifdef OLD_CLAMPING_METHOD + ///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax] + ///see http://code.google.com/p/bullet/issues/detail?id=87 + btVector3 clampedPoint(point); + clampedPoint.setMax(m_worldAabbMin); + clampedPoint.setMin(m_worldAabbMax); + btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; + out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); + out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); + out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); +#else + btVector3 v = (point - m_worldAabbMin) * m_quantize; + out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax); + out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax); + out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax); +#endif //OLD_CLAMPING_METHOD +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::allocHandle() +{ + btAssert(m_firstFreeHandle); + + BP_FP_INT_TYPE handle = m_firstFreeHandle; + m_firstFreeHandle = getHandle(handle)->GetNextFree(); + m_numHandles++; + + return handle; +} + +template +void btAxisSweep3Internal::freeHandle(BP_FP_INT_TYPE handle) +{ + btAssert(handle > 0 && handle < m_maxHandles); + + getHandle(handle)->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + m_numHandles--; +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher) +{ + // quantize the bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // allocate a handle + BP_FP_INT_TYPE handle = allocHandle(); + + + Handle* pHandle = getHandle(handle); + + pHandle->m_uniqueId = static_cast(handle); + //pHandle->m_pOverlaps = 0; + pHandle->m_clientObject = pOwner; + pHandle->m_collisionFilterGroup = collisionFilterGroup; + pHandle->m_collisionFilterMask = collisionFilterMask; + + // compute current limit of edge arrays + BP_FP_INT_TYPE limit = static_cast(m_numHandles * 2); + + + // insert new edges just inside the max boundary edge + for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) + { + + m_pHandles[0].m_maxEdges[axis] += 2; + + m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; + + m_pEdges[axis][limit - 1].m_pos = min[axis]; + m_pEdges[axis][limit - 1].m_handle = handle; + + m_pEdges[axis][limit].m_pos = max[axis]; + m_pEdges[axis][limit].m_handle = handle; + + pHandle->m_minEdges[axis] = static_cast(limit - 1); + pHandle->m_maxEdges[axis] = limit; + } + + // now sort the new edges to their correct position + sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false); + sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false); + sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false); + sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false); + sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true); + sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true); + + + return handle; +} + + +template +void btAxisSweep3Internal::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher) +{ + + Handle* pHandle = getHandle(handle); + + //explicitly remove the pairs containing the proxy + //we could do it also in the sortMinUp (passing true) + ///@todo: compare performance + if (!m_pairCache->hasDeferredRemoval()) + { + m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher); + } + + // compute current limit of edge arrays + int limit = static_cast(m_numHandles * 2); + + int axis; + + for (axis = 0;axis<3;axis++) + { + m_pHandles[0].m_maxEdges[axis] -= 2; + } + + // remove the edges by sorting them up to the end of the list + for ( axis = 0; axis < 3; axis++) + { + Edge* pEdges = m_pEdges[axis]; + BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; + pEdges[max].m_pos = m_handleSentinel; + + sortMaxUp(axis,max,dispatcher,false); + + + BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; + pEdges[i].m_pos = m_handleSentinel; + + + sortMinUp(axis,i,dispatcher,false); + + pEdges[limit-1].m_handle = 0; + pEdges[limit-1].m_pos = m_handleSentinel; + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis,false); +#endif //DEBUG_BROADPHASE + + + } + + + // free the handle + freeHandle(handle); + + +} + +template +void btAxisSweep3Internal::resetPool(btDispatcher* /*dispatcher*/) +{ + if (m_numHandles == 0) + { + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[m_maxHandles - 1].SetNextFree(0); + } + } +} + + +extern int gOverlappingPairs; +//#include + +template +void btAxisSweep3Internal::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + + if (m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;iprocessOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: + #define CLEAN_INVALID_PAIRS 1 + #ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + #endif//CLEAN_INVALID_PAIRS + + //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); + } + +} + + +template +bool btAxisSweep3Internal::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + const Handle* pHandleA = static_cast(proxy0); + const Handle* pHandleB = static_cast(proxy1); + + //optimization 1: check the array index (memory address), instead of the m_pos + + for (int axis = 0; axis < 3; axis++) + { + if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || + pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) + { + return false; + } + } + return true; +} + +template +bool btAxisSweep3Internal::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1) +{ + //optimization 1: check the array index (memory address), instead of the m_pos + + if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || + pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] || + pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] || + pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) + { + return false; + } + return true; +} + +template +void btAxisSweep3Internal::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ +// btAssert(bounds.IsFinite()); + //btAssert(bounds.HasVolume()); + + Handle* pHandle = getHandle(handle); + + // quantize the new bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // update changed edges + for (int axis = 0; axis < 3; axis++) + { + BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; + BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; + + int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; + int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; + + m_pEdges[axis][emin].m_pos = min[axis]; + m_pEdges[axis][emax].m_pos = max[axis]; + + // expand (only adds overlaps) + if (dmin < 0) + sortMinDown(axis, emin,dispatcher,true); + + if (dmax > 0) + sortMaxUp(axis, emax,dispatcher,true); + + // shrink (only removes overlaps) + if (dmin > 0) + sortMinUp(axis, emin,dispatcher,true); + + if (dmax < 0) + sortMaxDown(axis, emax,dispatcher,true); + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + } + + +} + + + + +// sorting a min edge downwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (pPrev->IsMax()) + { + // if previous edge is a maximum check the bounds and add an overlap if necessary + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2)) + { + m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev); + + //AddOverlap(pEdge->m_handle, pPrev->m_handle); + + } + + // update edge reference in other handle + pHandlePrev->m_maxEdges[axis]++; + } + else + pHandlePrev->m_minEdges[axis]++; + + pHandleEdge->m_minEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a min edge upwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + if (pNext->IsMax()) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + // if next edge is maximum remove any overlap between the two handles + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + } + + + // update edge reference in other handle + pHandleNext->m_maxEdges[axis]--; + } + else + pHandleNext->m_minEdges[axis]--; + + pHandleEdge->m_minEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + + +} + +// sorting a max edge downwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (!pPrev->IsMax()) + { + // if previous edge was a minimum remove any overlap between the two handles + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pPrev->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + //this is done during the overlappingpairarray iteration/narrowphase collision + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + + + } + + // update edge reference in other handle + pHandlePrev->m_minEdges[axis]++;; + } + else + pHandlePrev->m_maxEdges[axis]++; + + pHandleEdge->m_maxEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a max edge upwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (!pNext->IsMax()) + { + // if next edge is a minimum check the bounds and add an overlap if necessary + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2)) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + m_pairCache->addOverlappingPair(handle0,handle1); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(handle0,handle1); + } + + // update edge reference in other handle + pHandleNext->m_minEdges[axis]--; + } + else + pHandleNext->m_maxEdges[axis]--; + + pHandleEdge->m_maxEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + +} + +#endif diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h index f1bf00594..fb68e0024 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h @@ -41,6 +41,10 @@ struct btBroadphaseRayCallback : public btBroadphaseAabbCallback btScalar m_lambda_max; virtual ~btBroadphaseRayCallback() {} + +protected: + + btBroadphaseRayCallback() {} }; #include "LinearMath/btVector3.h" @@ -53,7 +57,7 @@ class btBroadphaseInterface public: virtual ~btBroadphaseInterface() {} - virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0; + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) =0; virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0; virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0; virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0; diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp index f4d7341f8..0fd4ef46b 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp @@ -15,3 +15,4 @@ subject to the following restrictions: #include "btBroadphaseProxy.h" +BT_NOT_EMPTY_FILE // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index bb58b8289..adaf083a2 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -101,10 +101,10 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); //Usually the client btCollisionObject or Rigidbody class void* m_clientObject; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; - void* m_multiSapParentProxy; - int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. + int m_collisionFilterGroup; + int m_collisionFilterMask; + + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. btVector3 m_aabbMin; btVector3 m_aabbMax; @@ -115,18 +115,17 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); } //used for memory pools - btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0) + btBroadphaseProxy() :m_clientObject(0) { } - btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0) + btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :m_clientObject(userPtr), m_collisionFilterGroup(collisionFilterGroup), m_collisionFilterMask(collisionFilterMask), m_aabbMin(aabbMin), m_aabbMax(aabbMax) { - m_multiSapParentProxy = multiSapParentProxy; } diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp index 2ca20cdd8..d791d0741 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp @@ -229,25 +229,60 @@ static void fetchleaves(btDbvt* pdbvt, } // -static void split( const tNodeArray& leaves, - tNodeArray& left, - tNodeArray& right, +static bool leftOfAxis( const btDbvtNode* node, + const btVector3& org, + const btVector3& axis) +{ + return btDot(axis, node->volume.Center() - org) <= 0; +} + + +// Partitions leaves such that leaves[0, n) are on the +// left of axis, and leaves[n, count) are on the right +// of axis. returns N. +static int split( btDbvtNode** leaves, + int count, const btVector3& org, const btVector3& axis) { - left.resize(0); - right.resize(0); - for(int i=0,ni=leaves.size();ivolume.Center()-org)<0) - left.push_back(leaves[i]); - else - right.push_back(leaves[i]); + while(begin!=end && leftOfAxis(leaves[begin],org,axis)) + { + ++begin; + } + + if(begin==end) + { + break; + } + + while(begin!=end && !leftOfAxis(leaves[end-1],org,axis)) + { + --end; + } + + if(begin==end) + { + break; + } + + // swap out of place nodes + --end; + btDbvtNode* temp=leaves[begin]; + leaves[begin]=leaves[end]; + leaves[end]=temp; + ++begin; } + + return begin; } // -static btDbvtVolume bounds( const tNodeArray& leaves) +static btDbvtVolume bounds( btDbvtNode** leaves, + int count) { #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]); @@ -257,7 +292,7 @@ static btDbvtVolume bounds( const tNodeArray& leaves) #else btDbvtVolume volume=leaves[0]->volume; #endif - for(int i=1,ni=leaves.size();ivolume,volume); } @@ -266,15 +301,16 @@ static btDbvtVolume bounds( const tNodeArray& leaves) // static void bottomup( btDbvt* pdbvt, - tNodeArray& leaves) + btDbvtNode** leaves, + int count) { - while(leaves.size()>1) + while(count>1) { btScalar minsize=SIMD_INFINITY; int minidx[2]={-1,-1}; - for(int i=0;ivolume,leaves[j]->volume)); if(szparent = p; n[1]->parent = p; leaves[minidx[0]] = p; - leaves.swap(minidx[1],leaves.size()-1); - leaves.pop_back(); + leaves[minidx[1]] = leaves[count-1]; + --count; } } // static btDbvtNode* topdown(btDbvt* pdbvt, - tNodeArray& leaves, + btDbvtNode** leaves, + int count, int bu_treshold) { static const btVector3 axis[]={btVector3(1,0,0), btVector3(0,1,0), btVector3(0,0,1)}; - if(leaves.size()>1) + btAssert(bu_treshold>2); + if(count>1) { - if(leaves.size()>bu_treshold) + if(count>bu_treshold) { - const btDbvtVolume vol=bounds(leaves); + const btDbvtVolume vol=bounds(leaves,count); const btVector3 org=vol.Center(); - tNodeArray sets[2]; + int partition; int bestaxis=-1; - int bestmidp=leaves.size(); + int bestmidp=count; int splitcount[3][2]={{0,0},{0,0},{0,0}}; int i; - for( i=0;ivolume.Center()-org; for(int j=0;j<3;++j) @@ -338,29 +376,23 @@ static btDbvtNode* topdown(btDbvt* pdbvt, } if(bestaxis>=0) { - sets[0].reserve(splitcount[bestaxis][0]); - sets[1].reserve(splitcount[bestaxis][1]); - split(leaves,sets[0],sets[1],org,axis[bestaxis]); + partition=split(leaves,count,org,axis[bestaxis]); + btAssert(partition!=0 && partition!=count); } else { - sets[0].reserve(leaves.size()/2+1); - sets[1].reserve(leaves.size()/2); - for(int i=0,ni=leaves.size();ichilds[0]=topdown(pdbvt,sets[0],bu_treshold); - node->childs[1]=topdown(pdbvt,sets[1],bu_treshold); + node->childs[0]=topdown(pdbvt,&leaves[0],partition,bu_treshold); + node->childs[1]=topdown(pdbvt,&leaves[partition],count-partition,bu_treshold); node->childs[0]->parent=node; node->childs[1]->parent=node; return(node); } else { - bottomup(pdbvt,leaves); + bottomup(pdbvt,leaves,count); return(leaves[0]); } } @@ -444,7 +476,7 @@ void btDbvt::optimizeBottomUp() tNodeArray leaves; leaves.reserve(m_leaves); fetchleaves(this,m_root,leaves); - bottomup(this,leaves); + bottomup(this,&leaves[0],leaves.size()); m_root=leaves[0]; } } @@ -457,7 +489,7 @@ void btDbvt::optimizeTopDown(int bu_treshold) tNodeArray leaves; leaves.reserve(m_leaves); fetchleaves(this,m_root,leaves); - m_root=topdown(this,leaves,bu_treshold); + m_root=topdown(this,&leaves[0],leaves.size(),bu_treshold); } } diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h index 1ca175723..b5a001458 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -942,7 +942,13 @@ inline void btDbvt::collideTV( const btDbvtNode* root, ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); btAlignedObjectArray stack; stack.resize(0); +#ifndef BT_DISABLE_STACK_TEMP_MEMORY + char tempmemory[SIMPLE_STACKSIZE*sizeof(const btDbvtNode*)]; + stack.initializeFromBuffer(tempmemory, 0, SIMPLE_STACKSIZE); +#else stack.reserve(SIMPLE_STACKSIZE); +#endif //BT_DISABLE_STACK_TEMP_MEMORY + stack.push_back(root); do { const btDbvtNode* n=stack[stack.size()-1]; @@ -1078,7 +1084,12 @@ inline void btDbvt::rayTest( const btDbvtNode* root, int depth=1; int treshold=DOUBLE_STACKSIZE-2; + char tempmemory[DOUBLE_STACKSIZE * sizeof(const btDbvtNode*)]; +#ifndef BT_DISABLE_STACK_TEMP_MEMORY + stack.initializeFromBuffer(tempmemory, DOUBLE_STACKSIZE, DOUBLE_STACKSIZE); +#else//BT_DISABLE_STACK_TEMP_MEMORY stack.resize(DOUBLE_STACKSIZE); +#endif //BT_DISABLE_STACK_TEMP_MEMORY stack[0]=root; btVector3 bounds[2]; do { diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index 4f33db500..4d12b1c9c 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -168,10 +168,9 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax, int /*shapeType*/, void* userPtr, - short int collisionFilterGroup, - short int collisionFilterMask, - btDispatcher* /*dispatcher*/, - void* /*multiSapProxy*/) + int collisionFilterGroup, + int collisionFilterMask, + btDispatcher* /*dispatcher*/) { btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr, collisionFilterGroup, @@ -545,7 +544,9 @@ void btDbvtBroadphase::collide(btDispatcher* dispatcher) btDbvtProxy* current=m_stageRoots[m_stageCurrent]; if(current) { +#if DBVT_BP_ACCURATESLEEPING btDbvtTreeCollider collider(this); +#endif do { btDbvtProxy* next=current->links[1]; listremove(current,m_stageRoots[current->stage]); diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index a61f00df0..8feb95d51 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -47,7 +47,7 @@ struct btDbvtProxy : btBroadphaseProxy btDbvtProxy* links[2]; int stage; /* ctor */ - btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : + btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask) { links[0]=links[1]=0; @@ -105,7 +105,7 @@ struct btDbvtBroadphase : btBroadphaseInterface void optimize(); /* btBroadphaseInterface Implementation */ - btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher); virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp deleted file mode 100644 index 81369fe9b..000000000 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +++ /dev/null @@ -1,489 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "btMultiSapBroadphase.h" - -#include "btSimpleBroadphase.h" -#include "LinearMath/btAabbUtil2.h" -#include "btQuantizedBvh.h" - -/// btSapBroadphaseArray m_sapBroadphases; - -/// btOverlappingPairCache* m_overlappingPairs; -extern int gOverlappingPairs; - -/* -class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache -{ -public: - - virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) - { - return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy); - } -}; - -*/ - -btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache) -:m_overlappingPairs(pairCache), -m_optimizedAabbTree(0), -m_ownsPairCache(false), -m_invalidPair(0) -{ - if (!m_overlappingPairs) - { - m_ownsPairCache = true; - void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16); - m_overlappingPairs = new (mem)btSortedOverlappingPairCache(); - } - - struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback - { - virtual ~btMultiSapOverlapFilterCallback() - {} - // return true when pairs need collision - virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const - { - btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy; - btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy; - - bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0; - collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask); - - return collides; - } - }; - - void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16); - m_filterCallback = new (mem)btMultiSapOverlapFilterCallback(); - - m_overlappingPairs->setOverlapFilterCallback(m_filterCallback); -// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16); -// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs); -} - -btMultiSapBroadphase::~btMultiSapBroadphase() -{ - if (m_ownsPairCache) - { - m_overlappingPairs->~btOverlappingPairCache(); - btAlignedFree(m_overlappingPairs); - } -} - - -void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax) -{ - m_optimizedAabbTree = new btQuantizedBvh(); - m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax); - QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray(); - for (int i=0;igetBroadphaseAabb(aabbMin,aabbMax); - m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0); - m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1); - int partId = 0; - node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i; - nodes.push_back(node); - } - m_optimizedAabbTree->buildInternal(); -} - -btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/) -{ - //void* ignoreMe -> we could think of recursive multi-sap, if someone is interested - - void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16); - btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask); - m_multiSapProxies.push_back(proxy); - - ///this should deal with inserting/removal into child broadphases - setAabb(proxy,aabbMin,aabbMax,dispatcher); - return proxy; -} - -void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) -{ - ///not yet - btAssert(0); - -} - - -void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase) -{ - void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16); - btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy; - bridgeProxyRef->m_childProxy = childProxy; - bridgeProxyRef->m_childBroadphase = childBroadphase; - parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef); -} - - -bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax); -bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax) -{ -return -amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() && -amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() && -amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ(); -} - - - - - - -void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const -{ - btMultiSapProxy* multiProxy = static_cast(proxy); - aabbMin = multiProxy->m_aabbMin; - aabbMax = multiProxy->m_aabbMax; -} - -void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax) -{ - for (int i=0;i - -void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher) -{ - btMultiSapProxy* multiProxy = static_cast(proxy); - multiProxy->m_aabbMin = aabbMin; - multiProxy->m_aabbMax = aabbMax; - - -// bool fullyContained = false; -// bool alreadyInSimple = false; - - - - - struct MyNodeOverlapCallback : public btNodeOverlapCallback - { - btMultiSapBroadphase* m_multiSap; - btMultiSapProxy* m_multiProxy; - btDispatcher* m_dispatcher; - - MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher) - :m_multiSap(multiSap), - m_multiProxy(multiProxy), - m_dispatcher(dispatcher) - { - - } - - virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex) - { - btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex]; - - int containingBroadphaseIndex = -1; - //already found? - for (int i=0;im_bridgeProxies.size();i++) - { - - if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase) - { - containingBroadphaseIndex = i; - break; - } - } - if (containingBroadphaseIndex<0) - { - //add it - btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy); - m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase); - - } - } - }; - - MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher); - - - - - if (m_optimizedAabbTree) - m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax); - - int i; - - for ( i=0;im_bridgeProxies.size();i++) - { - btVector3 worldAabbMin,worldAabbMax; - multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax); - bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); - if (!overlapsBroadphase) - { - //remove it now - btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i]; - - btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy; - bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher); - - multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1); - multiProxy->m_bridgeProxies.pop_back(); - - } - } - - - /* - - if (1) - { - - //find broadphase that contain this multiProxy - int numChildBroadphases = getBroadphaseArray().size(); - for (int i=0;igetBroadphaseAabb(worldAabbMin,worldAabbMax); - bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); - - // fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); - int containingBroadphaseIndex = -1; - - //if already contains this - - for (int i=0;im_bridgeProxies.size();i++) - { - if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase) - { - containingBroadphaseIndex = i; - } - alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase); - } - - if (overlapsBroadphase) - { - if (containingBroadphaseIndex<0) - { - btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); - childProxy->m_multiSapParentProxy = multiProxy; - addToChildBroadphase(multiProxy,childProxy,childBroadphase); - } - } else - { - if (containingBroadphaseIndex>=0) - { - //remove - btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex]; - - btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy; - bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher); - - multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1); - multiProxy->m_bridgeProxies.pop_back(); - } - } - } - - - ///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force) - ///hopefully we don't end up with many entries here (can assert/provide feedback on stats) - if (0)//!multiProxy->m_bridgeProxies.size()) - { - ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision - ///this is needed to be able to calculate the aabb overlap - btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); - childProxy->m_multiSapParentProxy = multiProxy; - addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase); - } - } - - if (!multiProxy->m_bridgeProxies.size()) - { - ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision - ///this is needed to be able to calculate the aabb overlap - btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); - childProxy->m_multiSapParentProxy = multiProxy; - addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase); - } -*/ - - - //update - for ( i=0;im_bridgeProxies.size();i++) - { - btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i]; - bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher); - } - -} -bool stopUpdating=false; - - - -class btMultiSapBroadphasePairSortPredicate -{ - public: - - bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const - { - btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0; - btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0; - btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0; - btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0; - - return aProxy0 > bProxy0 || - (aProxy0 == bProxy0 && aProxy1 > bProxy1) || - (aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); - } -}; - - - ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb -void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) -{ - -// m_simpleBroadphase->calculateOverlappingPairs(dispatcher); - - if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval()) - { - - btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray(); - - // quicksort(overlappingPairArray,0,overlappingPairArray.size()); - - overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate()); - - //perform a sort, to find duplicates and to sort 'invalid' pairs to the end - // overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate()); - - overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); - m_invalidPair = 0; - - - int i; - - btBroadphasePair previousPair; - previousPair.m_pProxy0 = 0; - previousPair.m_pProxy1 = 0; - previousPair.m_algorithm = 0; - - - for (i=0;im_multiSapParentProxy : 0; - btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0; - btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0; - btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0; - - bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1); - - previousPair = pair; - - bool needsRemoval = false; - - if (!isDuplicate) - { - bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); - - if (hasOverlap) - { - needsRemoval = false;//callback->processOverlap(pair); - } else - { - needsRemoval = true; - } - } else - { - //remove duplicate - needsRemoval = true; - //should have no algorithm - btAssert(!pair.m_algorithm); - } - - if (needsRemoval) - { - getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher); - - // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); - // m_overlappingPairArray.pop_back(); - pair.m_pProxy0 = 0; - pair.m_pProxy1 = 0; - m_invalidPair++; - gOverlappingPairs--; - } - - } - - ///if you don't like to skip the invalid pairs in the array, execute following code: - #define CLEAN_INVALID_PAIRS 1 - #ifdef CLEAN_INVALID_PAIRS - - //perform a sort, to sort 'invalid' pairs to the end - //overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate()); - overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate()); - - overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); - m_invalidPair = 0; - #endif//CLEAN_INVALID_PAIRS - - //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); - } - - -} - - -bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) -{ - btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy; - btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy; - - return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax, - multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax); - -} - - -void btMultiSapBroadphase::printStats() -{ -/* printf("---------------------------------\n"); - - printf("btMultiSapBroadphase.h\n"); - printf("numHandles = %d\n",m_multiSapProxies.size()); - //find broadphase that contain this multiProxy - int numChildBroadphases = getBroadphaseArray().size(); - for (int i=0;iprintStats(); - - } - */ - -} - -void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher) -{ - // not yet -} diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h deleted file mode 100644 index 7bcfe6b13..000000000 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +++ /dev/null @@ -1,151 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -#ifndef BT_MULTI_SAP_BROADPHASE -#define BT_MULTI_SAP_BROADPHASE - -#include "btBroadphaseInterface.h" -#include "LinearMath/btAlignedObjectArray.h" -#include "btOverlappingPairCache.h" - - -class btBroadphaseInterface; -class btSimpleBroadphase; - - -typedef btAlignedObjectArray btSapBroadphaseArray; - -///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead. -///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. -///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. -///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. -///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 -///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329 -class btMultiSapBroadphase :public btBroadphaseInterface -{ - btSapBroadphaseArray m_sapBroadphases; - - btSimpleBroadphase* m_simpleBroadphase; - - btOverlappingPairCache* m_overlappingPairs; - - class btQuantizedBvh* m_optimizedAabbTree; - - - bool m_ownsPairCache; - - btOverlapFilterCallback* m_filterCallback; - - int m_invalidPair; - - struct btBridgeProxy - { - btBroadphaseProxy* m_childProxy; - btBroadphaseInterface* m_childBroadphase; - }; - - -public: - - struct btMultiSapProxy : public btBroadphaseProxy - { - - ///array with all the entries that this proxy belongs to - btAlignedObjectArray m_bridgeProxies; - btVector3 m_aabbMin; - btVector3 m_aabbMax; - - int m_shapeType; - -/* void* m_userPtr; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; -*/ - btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) - :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask), - m_aabbMin(aabbMin), - m_aabbMax(aabbMax), - m_shapeType(shapeType) - { - m_multiSapParentProxy =this; - } - - - }; - -protected: - - - btAlignedObjectArray m_multiSapProxies; - -public: - - btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0); - - - btSapBroadphaseArray& getBroadphaseArray() - { - return m_sapBroadphases; - } - - const btSapBroadphaseArray& getBroadphaseArray() const - { - return m_sapBroadphases; - } - - virtual ~btMultiSapBroadphase(); - - virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); - virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); - virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; - - virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); - - void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase); - - ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb - virtual void calculateOverlappingPairs(btDispatcher* dispatcher); - - bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); - - virtual btOverlappingPairCache* getOverlappingPairCache() - { - return m_overlappingPairs; - } - virtual const btOverlappingPairCache* getOverlappingPairCache() const - { - return m_overlappingPairs; - } - - ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame - ///will add some transform later - virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const - { - aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); - aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); - } - - void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); - - virtual void printStats(); - - void quicksort (btBroadphasePairArray& a, int lo, int hi); - - ///reset broadphase internal structures, to ensure determinism/reproducability - virtual void resetPool(btDispatcher* dispatcher); - -}; - -#endif //BT_MULTI_SAP_BROADPHASE diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index 146142704..f7be7d45b 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -90,7 +90,8 @@ public: }; /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com -class btHashedOverlappingPairCache : public btOverlappingPairCache + +ATTRIBUTE_ALIGNED16(class) btHashedOverlappingPairCache : public btOverlappingPairCache { btBroadphasePairArray m_overlappingPairArray; btOverlapFilterCallback* m_overlapFilterCallback; @@ -103,6 +104,8 @@ protected: public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btHashedOverlappingPairCache(); virtual ~btHashedOverlappingPairCache(); @@ -212,10 +215,9 @@ private: */ - - SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) + SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) { - int key = static_cast(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16)); + unsigned int key = proxyId1 | (proxyId2 << 16); // Thomas Wang's hash key += ~(key << 15); @@ -224,13 +226,11 @@ private: key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); - return static_cast(key); + return key; } - - SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash) { int proxyId1 = proxy0->getUid(); diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h index 9c7b6f813..3e069fa5e 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h @@ -23,6 +23,9 @@ struct btBroadphasePair; ///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. class btOverlappingPairCallback { +protected: + btOverlappingPairCallback() {} + public: virtual ~btOverlappingPairCallback() { diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp index 93de49998..875d89c53 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp @@ -1336,6 +1336,8 @@ const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex; memPtr->m_subPart = m_contiguousNodes[i].m_subPart; memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex; + // Fill padding with zeros to appease msan. + memset(memPtr->m_pad, 0, sizeof(memPtr->m_pad)); } serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]); } diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h index 78382da79..3dd5ac9bb 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h @@ -169,7 +169,7 @@ typedef btAlignedObjectArray BvhSubtreeInfoArray; ///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. -///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase. +///It is used by the btBvhTriangleMeshShape as midphase. ///It is recommended to use quantization for better performance and lower memory requirements. ATTRIBUTE_ALIGNED16(class) btQuantizedBvh { diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index 752fcd0fe..f1d5f5476 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -84,7 +84,7 @@ btSimpleBroadphase::~btSimpleBroadphase() } -btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy) +btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/) { if (m_numHandles >= m_maxHandles) { @@ -94,7 +94,7 @@ btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]); int newHandleIndex = allocHandle(); - btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy); + btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask); return proxy; } diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h index 7cb3c40a0..d7a18e400 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h @@ -29,8 +29,8 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy btSimpleBroadphaseProxy() {}; - btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) - :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) + btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask) + :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask) { (void)shapeType; } @@ -127,7 +127,7 @@ public: static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); - virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher); virtual void calculateOverlappingPairs(btDispatcher* dispatcher); diff --git a/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt b/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt index 90741a126..85c5fc8b6 100644 --- a/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt @@ -7,7 +7,6 @@ SET(BulletCollision_SRCS BroadphaseCollision/btDbvt.cpp BroadphaseCollision/btDbvtBroadphase.cpp BroadphaseCollision/btDispatcher.cpp - BroadphaseCollision/btMultiSapBroadphase.cpp BroadphaseCollision/btOverlappingPairCache.cpp BroadphaseCollision/btQuantizedBvh.cpp BroadphaseCollision/btSimpleBroadphase.cpp @@ -16,6 +15,7 @@ SET(BulletCollision_SRCS CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp CollisionDispatch/btBoxBoxDetector.cpp CollisionDispatch/btCollisionDispatcher.cpp + CollisionDispatch/btCollisionDispatcherMt.cpp CollisionDispatch/btCollisionObject.cpp CollisionDispatch/btCollisionWorld.cpp CollisionDispatch/btCollisionWorldImporter.cpp @@ -103,6 +103,7 @@ SET(Root_HDRS ../btBulletCollisionCommon.h ) SET(BroadphaseCollision_HDRS + BroadphaseCollision/btAxisSweep3Internal.h BroadphaseCollision/btAxisSweep3.h BroadphaseCollision/btBroadphaseInterface.h BroadphaseCollision/btBroadphaseProxy.h @@ -110,7 +111,6 @@ SET(BroadphaseCollision_HDRS BroadphaseCollision/btDbvt.h BroadphaseCollision/btDbvtBroadphase.h BroadphaseCollision/btDispatcher.h - BroadphaseCollision/btMultiSapBroadphase.h BroadphaseCollision/btOverlappingPairCache.h BroadphaseCollision/btOverlappingPairCallback.h BroadphaseCollision/btQuantizedBvh.h @@ -124,6 +124,7 @@ SET(CollisionDispatch_HDRS CollisionDispatch/btCollisionConfiguration.h CollisionDispatch/btCollisionCreateFunc.h CollisionDispatch/btCollisionDispatcher.h + CollisionDispatch/btCollisionDispatcherMt.h CollisionDispatch/btCollisionObject.h CollisionDispatch/btCollisionObjectWrapper.h CollisionDispatch/btCollisionWorld.h @@ -191,12 +192,15 @@ SET(CollisionShapes_HDRS SET(Gimpact_HDRS Gimpact/btBoxCollision.h Gimpact/btClipPolygon.h + Gimpact/btContactProcessingStructs.h Gimpact/btContactProcessing.h Gimpact/btGenericPoolAllocator.h Gimpact/btGeometryOperations.h + Gimpact/btGImpactBvhStructs.h Gimpact/btGImpactBvh.h Gimpact/btGImpactCollisionAlgorithm.h Gimpact/btGImpactMassUtil.h + Gimpact/btGImpactQuantizedBvhStructs.h Gimpact/btGImpactQuantizedBvh.h Gimpact/btGImpactShape.h Gimpact/btQuantization.h diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index 006cc65a2..c81af9567 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -100,45 +100,54 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po btScalar radiusWithThreshold = radius + contactBreakingThreshold; btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); - normal.safeNormalize(); - btVector3 p1ToCentre = sphereCenter - vertices[0]; - btScalar distanceFromPlane = p1ToCentre.dot(normal); - if (distanceFromPlane < btScalar(0.)) - { - //triangle facing the other way - distanceFromPlane *= btScalar(-1.); - normal *= btScalar(-1.); - } - - bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold; - - // Check for contact / intersection + btScalar l2 = normal.length2(); bool hasContact = false; btVector3 contactPoint; - if (isInsideContactPlane) { - if (facecontains(sphereCenter,vertices,normal)) { - // Inside the contact wedge - touches a point on the shell plane - hasContact = true; - contactPoint = sphereCenter - normal*distanceFromPlane; - } else { - // Could be inside one of the contact capsules - btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; - btVector3 nearestOnEdge; - for (int i = 0; i < m_triangle->getNumEdges(); i++) { - - btVector3 pa; - btVector3 pb; - - m_triangle->getEdge(i,pa,pb); - btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge); - if (distanceSqr < contactCapsuleRadiusSqr) { - // Yep, we're inside a capsule - hasContact = true; - contactPoint = nearestOnEdge; + if (l2 >= SIMD_EPSILON*SIMD_EPSILON) + { + normal /= btSqrt(l2); + + btVector3 p1ToCentre = sphereCenter - vertices[0]; + btScalar distanceFromPlane = p1ToCentre.dot(normal); + + if (distanceFromPlane < btScalar(0.)) + { + //triangle facing the other way + distanceFromPlane *= btScalar(-1.); + normal *= btScalar(-1.); + } + + bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold; + + // Check for contact / intersection + + if (isInsideContactPlane) { + if (facecontains(sphereCenter, vertices, normal)) { + // Inside the contact wedge - touches a point on the shell plane + hasContact = true; + contactPoint = sphereCenter - normal*distanceFromPlane; + } + else { + // Could be inside one of the contact capsules + btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; + btVector3 nearestOnEdge; + for (int i = 0; i < m_triangle->getNumEdges(); i++) { + + btVector3 pa; + btVector3 pb; + + m_triangle->getEdge(i, pa, pb); + + btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge); + if (distanceSqr < contactCapsuleRadiusSqr) { + // Yep, we're inside a capsule + hasContact = true; + contactPoint = nearestOnEdge; + } + } - } } } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h index 489812b96..0e19f1ea3 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h @@ -24,12 +24,13 @@ class btActivatingCollisionAlgorithm : public btCollisionAlgorithm // btCollisionObject* m_colObj0; // btCollisionObject* m_colObj1; -public: +protected: btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci); btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); +public: virtual ~btActivatingCollisionAlgorithm(); }; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index 737067ef9..5739a1ef0 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -239,10 +239,7 @@ public: virtual bool processOverlap(btBroadphasePair& pair) { - BT_PROFILE("btCollisionDispatcher::processOverlap"); - (*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo); - return false; } }; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp new file mode 100644 index 000000000..075860c50 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp @@ -0,0 +1,164 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#include "btCollisionDispatcherMt.h" +#include "LinearMath/btQuickprof.h" + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btPoolAllocator.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + + +btCollisionDispatcherMt::btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize ) + : btCollisionDispatcher( config ) +{ + m_batchUpdating = false; + m_grainSize = grainSize; // iterations per task +} + + +btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) +{ + //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance) + + btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ? + btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) ) + : gContactBreakingThreshold; + + btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() ); + + void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) ); + if ( NULL == mem ) + { + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 ) + { + mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 ); + } + else + { + btAssert( 0 ); + //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration + return 0; + } + } + btPersistentManifold* manifold = new( mem ) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold ); + if ( !m_batchUpdating ) + { + // batch updater will update manifold pointers array after finishing, so + // only need to update array when not batch-updating + //btAssert( !btThreadsAreRunning() ); + manifold->m_index1a = m_manifoldsPtr.size(); + m_manifoldsPtr.push_back( manifold ); + } + + return manifold; +} + +void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold ) +{ + clearManifold( manifold ); + //btAssert( !btThreadsAreRunning() ); + if ( !m_batchUpdating ) + { + // batch updater will update manifold pointers array after finishing, so + // only need to update array when not batch-updating + int findIndex = manifold->m_index1a; + btAssert( findIndex < m_manifoldsPtr.size() ); + m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 ); + m_manifoldsPtr[ findIndex ]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + } + + manifold->~btPersistentManifold(); + if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) ) + { + m_persistentManifoldPoolAllocator->freeMemory( manifold ); + } + else + { + btAlignedFree( manifold ); + } +} + +struct CollisionDispatcherUpdater : public btIParallelForBody +{ + btBroadphasePair* mPairArray; + btNearCallback mCallback; + btCollisionDispatcher* mDispatcher; + const btDispatcherInfo* mInfo; + + CollisionDispatcherUpdater() + { + mPairArray = NULL; + mCallback = NULL; + mDispatcher = NULL; + mInfo = NULL; + } + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btBroadphasePair* pair = &mPairArray[ i ]; + mCallback( *pair, *mDispatcher, *mInfo ); + } + } +}; + + +void btCollisionDispatcherMt::dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) +{ + int pairCount = pairCache->getNumOverlappingPairs(); + if ( pairCount == 0 ) + { + return; + } + CollisionDispatcherUpdater updater; + updater.mCallback = getNearCallback(); + updater.mPairArray = pairCache->getOverlappingPairArrayPtr(); + updater.mDispatcher = this; + updater.mInfo = &info; + + m_batchUpdating = true; + btParallelFor( 0, pairCount, m_grainSize, updater ); + m_batchUpdating = false; + + // reconstruct the manifolds array to ensure determinism + m_manifoldsPtr.resizeNoInitialize( 0 ); + + btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr(); + for ( int i = 0; i < pairCount; ++i ) + { + if (btCollisionAlgorithm* algo = pairs[ i ].m_algorithm) + { + algo->getAllContactManifolds( m_manifoldsPtr ); + } + } + + // update the indices (used when releasing manifolds) + for ( int i = 0; i < m_manifoldsPtr.size(); ++i ) + { + m_manifoldsPtr[ i ]->m_index1a = i; + } +} + + diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h new file mode 100644 index 000000000..f1d7eafdc --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h @@ -0,0 +1,39 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_COLLISION_DISPATCHER_MT_H +#define BT_COLLISION_DISPATCHER_MT_H + +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "LinearMath/btThreads.h" + + +class btCollisionDispatcherMt : public btCollisionDispatcher +{ +public: + btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize = 40 ); + + virtual btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE; + virtual void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE; + + virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE; + +protected: + bool m_batchUpdating; + int m_grainSize; +}; + +#endif //BT_COLLISION_DISPATCHER_MT_H + diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp index fdecac162..b595c56bc 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -18,9 +18,11 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" btCollisionObject::btCollisionObject() - : m_anisotropicFriction(1.f,1.f,1.f), - m_hasAnisotropicFriction(false), - m_contactProcessingThreshold(BT_LARGE_FLOAT), + : m_interpolationLinearVelocity(0.f, 0.f, 0.f), + m_interpolationAngularVelocity(0.f, 0.f, 0.f), + m_anisotropicFriction(1.f,1.f,1.f), + m_hasAnisotropicFriction(false), + m_contactProcessingThreshold(BT_LARGE_FLOAT), m_broadphaseHandle(0), m_collisionShape(0), m_extensionPointer(0), @@ -48,6 +50,7 @@ btCollisionObject::btCollisionObject() m_updateRevision(0) { m_worldTransform.setIdentity(); + m_interpolationWorldTransform.setIdentity(); } btCollisionObject::~btCollisionObject() @@ -112,6 +115,9 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold; dataOut->m_checkCollideWith = m_checkCollideWith; + // Fill padding with zeros to appease msan. + memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); + return btCollisionObjectDataName; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 0cae21000..fec831bff 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -139,6 +139,8 @@ public: CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing CF_HAS_CONTACT_STIFFNESS_DAMPING = 128, CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256, + CF_HAS_FRICTION_ANCHOR = 512, + CF_HAS_COLLISION_SOUND_TRIGGER = 1024 }; enum CollisionObjectTypes diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 3bbf7586e..c893b60d3 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -108,7 +108,7 @@ btCollisionWorld::~btCollisionWorld() -void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask) +void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask) { btAssert(collisionObject); @@ -135,8 +135,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho collisionObject, collisionFilterGroup, collisionFilterMask, - m_dispatcher1,0 - )) ; + m_dispatcher1)) ; @@ -257,7 +256,7 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) int iObj = collisionObject->getWorldArrayIndex(); - btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously? +// btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously? if (iObj >= 0 && iObj < m_collisionObjects.size()) { btAssert(collisionObject == m_collisionObjects[iObj]); @@ -1334,7 +1333,7 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const // Draw a small simplex at the center of the object if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames) { - getDebugDrawer()->drawTransform(worldTransform,1); + getDebugDrawer()->drawTransform(worldTransform,.1); } if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) @@ -1515,6 +1514,8 @@ void btCollisionWorld::debugDrawWorld() { if (getDebugDrawer()) { + getDebugDrawer()->clearLines(); + btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors(); if ( getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints) diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index 29d371116..eede2b28c 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -205,8 +205,8 @@ public: { btScalar m_closestHitFraction; const btCollisionObject* m_collisionObject; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; + int m_collisionFilterGroup; + int m_collisionFilterMask; //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke. unsigned int m_flags; @@ -340,8 +340,8 @@ public: struct ConvexResultCallback { btScalar m_closestHitFraction; - short int m_collisionFilterGroup; - short int m_collisionFilterMask; + int m_collisionFilterGroup; + int m_collisionFilterMask; ConvexResultCallback() :m_closestHitFraction(btScalar(1.)), @@ -410,8 +410,8 @@ public: ///ContactResultCallback is used to report contact points struct ContactResultCallback { - short int m_collisionFilterGroup; - short int m_collisionFilterMask; + int m_collisionFilterGroup; + int m_collisionFilterMask; btScalar m_closestDistanceThreshold; ContactResultCallback() @@ -483,7 +483,7 @@ public: const btCollisionObjectWrapper* colObjWrap, ConvexResultCallback& resultCallback, btScalar allowedPenetration); - virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter); btCollisionObjectArray& getCollisionObjectArray() { diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 36dd04350..f2b083780 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -579,13 +579,13 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape( btCollisionS btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData; btCompoundShape* compoundShape = createCompoundShape(); - btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0]; + //btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0]; btAlignedObjectArray childShapes; for (int i=0;im_numChildShapes;i++) { - btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i]; + //btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i]; btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h index 9a6d16fbe..81c614272 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h @@ -124,7 +124,6 @@ public: btCollisionShape* getCollisionShapeByIndex(int index); int getNumRigidBodies() const; btCollisionObject* getRigidBodyByIndex(int index) const; - int getNumConstraints() const; int getNumBvhs() const; btOptimizedBvh* getBvhByIndex(int index) const; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp index 8dd7e4403..d4a1aa78e 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -24,6 +24,8 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btManifoldResult.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT +#define USE_LOCAL_STACK 1 btShapePairCallback gCompoundCompoundChildShapePairCallback = 0; @@ -251,7 +253,12 @@ static inline void MycollideTT( const btDbvtNode* root0, int depth=1; int treshold=btDbvt::DOUBLE_STACKSIZE-4; btAlignedObjectArray stkStack; +#ifdef USE_LOCAL_STACK + ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]); + stkStack.initializeFromBuffer(&localStack,btDbvt::DOUBLE_STACKSIZE,btDbvt::DOUBLE_STACKSIZE); +#else stkStack.resize(btDbvt::DOUBLE_STACKSIZE); +#endif stkStack[0]=btDbvt::sStkNN(root0,root1); do { btDbvt::sStkNN p=stkStack[--depth]; @@ -329,6 +336,10 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb { int i; btManifoldArray manifoldArray; +#ifdef USE_LOCAL_STACK + btPersistentManifold localManifolds[4]; + manifoldArray.initializeFromBuffer(&localManifolds,0,4); +#endif btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); for (i=0;igetShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE)) { + //m_manifoldPtr->clearManifold(); + btCapsuleShape* capsuleA = (btCapsuleShape*) min0; btCapsuleShape* capsuleB = (btCapsuleShape*) min1; - // btVector3 localScalingA = capsuleA->getLocalScaling(); - // btVector3 localScalingB = capsuleB->getLocalScaling(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); @@ -329,6 +329,50 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* resultOut->refreshContactPoints(); return; } + + if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE)) + { + //m_manifoldPtr->clearManifold(); + + btCapsuleShape* capsuleA = (btCapsuleShape*) min0; + btSphereShape* capsuleB = (btSphereShape*) min1; + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(), + 0.,capsuleB->getRadius(),capsuleA->getUpAxis(),1, + body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold); + + if (dist=(SIMD_EPSILON*SIMD_EPSILON)); + resultOut->addContactPoint(normalOnB,pointOnBWorld,dist); + } + resultOut->refreshContactPoints(); + return; + } + + if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE)) + { + //m_manifoldPtr->clearManifold(); + + btSphereShape* capsuleA = (btSphereShape*) min0; + btCapsuleShape* capsuleB = (btCapsuleShape*) min1; + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,0.,capsuleA->getRadius(), + capsuleB->getHalfHeight(),capsuleB->getRadius(),1,capsuleB->getUpAxis(), + body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold); + + if (dist=(SIMD_EPSILON*SIMD_EPSILON)); + resultOut->addContactPoint(normalOnB,pointOnBWorld,dist); + } + resultOut->refreshContactPoints(); + return; + } #endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h index 186964d72..2aaf6201f 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h @@ -123,9 +123,9 @@ private: - SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB) + SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB) { - int key = static_cast(((unsigned int)indexA) | (((unsigned int)indexB) <<16)); + unsigned int key = indexA | (indexB << 16); // Thomas Wang's hash key += ~(key << 15); @@ -134,7 +134,7 @@ private: key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); - return static_cast(key); + return key; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp index be8e51d52..aa3d159f8 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp @@ -111,6 +111,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b return; bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + bool isNewCollision = m_manifoldPtr->getNumContacts() == 0; btVector3 pointA = pointInWorld + normalOnBInWorld * depth; @@ -145,7 +146,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b newPt.m_combinedContactStiffness1 = calculateCombinedContactStiffness(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING; } - + + if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR) || + (m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR)) + { + newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR; + } + btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2); @@ -187,5 +194,9 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1); } + if (gContactStartedCallback && isNewCollision) + { + gContactStartedCallback(m_manifoldPtr); + } } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBox2dShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBox2dShape.h index ce333783e..22bee4f2c 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBox2dShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBox2dShape.h @@ -103,11 +103,12 @@ public: btScalar minDimension = boxHalfExtents.getX(); if (minDimension>boxHalfExtents.getY()) minDimension = boxHalfExtents.getY(); - setSafeMargin(minDimension); m_shapeType = BOX_2D_SHAPE_PROXYTYPE; btVector3 margin(getMargin(),getMargin(),getMargin()); m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; + + setSafeMargin(minDimension); }; virtual void setMargin(btScalar collisionMargin) diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.cpp index 3859138f1..72eeb3891 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -19,10 +19,10 @@ btBoxShape::btBoxShape( const btVector3& boxHalfExtents) { m_shapeType = BOX_SHAPE_PROXYTYPE; - setSafeMargin(boxHalfExtents); - btVector3 margin(getMargin(),getMargin(),getMargin()); m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; + + setSafeMargin(boxHalfExtents); }; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp index 0940da1a4..61f465cb7 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -437,6 +437,9 @@ const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* se trimeshData->m_triangleInfoMap = 0; } + // Fill padding with zeros to appease msan. + memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3)); + return "btTriangleMeshShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp index 864df26e9..0345501ce 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp @@ -16,11 +16,11 @@ subject to the following restrictions: #include "btCapsuleShape.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" #include "LinearMath/btQuaternion.h" btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape () { + m_collisionMargin = radius; m_shapeType = CAPSULE_SHAPE_PROXYTYPE; m_upAxis = 1; m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); @@ -48,14 +48,13 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter btVector3 vtx; btScalar newDot; - btScalar radius = getRadius(); - + { btVector3 pos(0,0,0); pos[getUpAxis()] = getHalfHeight(); - vtx = pos +vec*(radius) - vec * getMargin(); + vtx = pos; newDot = vec.dot(vtx); if (newDot > maxDot) { @@ -67,7 +66,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter btVector3 pos(0,0,0); pos[getUpAxis()] = -getHalfHeight(); - vtx = pos +vec*(radius) - vec * getMargin(); + vtx = pos; newDot = vec.dot(vtx); if (newDot > maxDot) { @@ -84,8 +83,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter { - btScalar radius = getRadius(); - + for (int j=0;j maxDot) { @@ -107,7 +105,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter { btVector3 pos(0,0,0); pos[getUpAxis()] = -getHalfHeight(); - vtx = pos +vec*(radius) - vec * getMargin(); + vtx = pos; newDot = vec.dot(vtx); if (newDot > maxDot) { @@ -133,11 +131,9 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con btVector3 halfExtents(radius,radius,radius); halfExtents[getUpAxis()]+=getHalfHeight(); - btScalar margin = CONVEX_DISTANCE_MARGIN; - - btScalar lx=btScalar(2.)*(halfExtents[0]+margin); - btScalar ly=btScalar(2.)*(halfExtents[1]+margin); - btScalar lz=btScalar(2.)*(halfExtents[2]+margin); + btScalar lx=btScalar(2.)*(halfExtents[0]); + btScalar ly=btScalar(2.)*(halfExtents[1]); + btScalar lz=btScalar(2.)*(halfExtents[2]); const btScalar x2 = lx*lx; const btScalar y2 = ly*ly; const btScalar z2 = lz*lz; @@ -151,6 +147,7 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) { + m_collisionMargin = radius; m_upAxis = 0; m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); } @@ -162,6 +159,7 @@ btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height) { + m_collisionMargin = radius; m_upAxis = 2; m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h index f8c55ace4..7d64b46ab 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -48,21 +48,13 @@ public: virtual void setMargin(btScalar collisionMargin) { - //correct the m_implicitShapeDimensions for the margin - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; - - btConvexInternalShape::setMargin(collisionMargin); - btVector3 newMargin(getMargin(),getMargin(),getMargin()); - m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; - + //don't override the margin for capsules, their entire radius == margin } virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { btVector3 halfExtents(getRadius(),getRadius(),getRadius()); halfExtents[m_upAxis] = getRadius() + getHalfHeight(); - halfExtents += btVector3(getMargin(),getMargin(),getMargin()); btMatrix3x3 abs_b = t.getBasis().absolute(); btVector3 center = t.getOrigin(); btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); @@ -94,14 +86,12 @@ public: virtual void setLocalScaling(const btVector3& scaling) { - btVector3 oldMargin(getMargin(),getMargin(),getMargin()); - btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; - btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; - - btConvexInternalShape::setLocalScaling(scaling); - - m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; - + btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling; + btConvexInternalShape::setLocalScaling(scaling); + m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling); + //update m_collisionMargin, since entire radius==margin + int radiusAxis = (m_upAxis+2)%3; + m_collisionMargin = m_implicitShapeDimensions[radiusAxis]; } virtual btVector3 getAnisotropicRollingFrictionDirection() const @@ -174,11 +164,17 @@ SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const { btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer; - + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); shapeData->m_upAxis = m_upAxis; - + + // Fill padding with zeros to appease msan. + shapeData->m_padding[0] = 0; + shapeData->m_padding[1] = 0; + shapeData->m_padding[2] = 0; + shapeData->m_padding[3] = 0; + return "btCapsuleShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp index 39ee21cad..823e2788f 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -106,7 +106,10 @@ const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializ serializer->serializeName(name); } shapeData->m_shapeType = m_shapeType; - //shapeData->m_padding//?? + + // Fill padding with zeros to appease msan. + memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding)); + return "btCollisionShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h index 46d78d148..3b44e3f27 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h @@ -168,11 +168,17 @@ SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const { btConeShapeData* shapeData = (btConeShapeData*) dataBuffer; - + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); - + shapeData->m_upIndex = m_coneIndices[1]; - + + // Fill padding with zeros to appease msan. + shapeData->m_padding[0] = 0; + shapeData->m_padding[1] = 0; + shapeData->m_padding[2] = 0; + shapeData->m_padding[3] = 0; + return "btConeShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index c1aa6ca46..a7a959840 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -211,7 +211,10 @@ const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali } serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); } - + + // Fill padding with zeros to appease msan. + memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3)); + return "btConvexHullShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h index 37e04f5fc..1213b82fb 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -172,6 +172,9 @@ SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, m_localScaling.serializeFloat(shapeData->m_localScaling); shapeData->m_collisionMargin = float(m_collisionMargin); + // Fill padding with zeros to appease msan. + shapeData->m_padding = 0; + return "btConvexInternalShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp index b56d72917..8d7fb054d 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -230,14 +230,13 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btScalar halfHeight = capsuleShape->getHalfHeight(); int capsuleUpAxis = capsuleShape->getUpAxis(); - btScalar radius = capsuleShape->getRadius(); btVector3 supVec(0,0,0); btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); btVector3 vec = vec0; btScalar lenSqr = vec.length2(); - if (lenSqr < btScalar(0.0001)) + if (lenSqr < SIMD_EPSILON*SIMD_EPSILON) { vec.setValue(1,0,0); } else @@ -251,8 +250,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btVector3 pos(0,0,0); pos[capsuleUpAxis] = halfHeight; - //vtx = pos +vec*(radius); - vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); + vtx = pos; newDot = vec.dot(vtx); @@ -266,8 +264,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV btVector3 pos(0,0,0); pos[capsuleUpAxis] = -halfHeight; - //vtx = pos +vec*(radius); - vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); + vtx = pos; newDot = vec.dot(vtx); if (newDot > maxDot) { @@ -427,7 +424,6 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius()); int m_upAxis = capsuleShape->getUpAxis(); halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight(); - halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual()); btMatrix3x3 abs_b = t.getBasis().absolute(); btVector3 center = t.getOrigin(); btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.cpp index 6cfe43be4..604b3fc77 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.cpp @@ -19,10 +19,11 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents) :btConvexInternalShape(), m_upAxis(1) { - setSafeMargin(halfExtents); - btVector3 margin(getMargin(),getMargin(),getMargin()); m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin; + + setSafeMargin(halfExtents); + m_shapeType = CYLINDER_SHAPE_PROXYTYPE; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h index 6f796950e..a214a827c 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h @@ -199,11 +199,17 @@ SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const { btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; - + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); shapeData->m_upAxis = m_upAxis; - + + // Fill padding with zeros to appease msan. + shapeData->m_padding[0] = 0; + shapeData->m_padding[1] = 0; + shapeData->m_padding[2] = 0; + shapeData->m_padding[3] = 0; + return "btCylinderShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 06707e24e..899ef5005 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -55,6 +55,23 @@ btScalar btMinkowskiSumShape::getMargin() const void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; - btAssert(0); - inertia.setValue(0,0,0); + //inertia of the AABB of the Minkowski sum + btTransform identity; + identity.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(identity,aabbMin,aabbMax); + + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar margin = getMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()+margin); + btScalar ly=btScalar(2.)*(halfExtents.y()+margin); + btScalar lz=btScalar(2.)*(halfExtents.z()+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index 88f6c4dcb..4195fa313 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -175,7 +175,10 @@ const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serial } serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]); } - + + // Fill padding with zeros to appease msan. + memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding)); + return "btMultiSphereShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 961d001a9..7bf8e01c1 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -93,10 +93,12 @@ protected: aabbMax = m_localAabbMax; } -public: +protected: btPolyhedralConvexAabbCachingShape(); +public: + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const { diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h index b192efeeb..50561f7f5 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h @@ -29,8 +29,11 @@ public: btSphereShape (btScalar radius) : btConvexInternalShape () { m_shapeType = SPHERE_SHAPE_PROXYTYPE; + m_localScaling.setValue(1.0, 1.0, 1.0); + m_implicitShapeDimensions.setZero(); m_implicitShapeDimensions.setX(radius); m_collisionMargin = radius; + m_padding = 0; } virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h index e6e328839..5e9eccc77 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -94,7 +94,13 @@ SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, bt m_localScaling.serializeFloat(planeData->m_localScaling); m_planeNormal.serializeFloat(planeData->m_planeNormal); planeData->m_planeConstant = float(m_planeConstant); - + + // Fill padding with zeros to appease msan. + planeData->m_pad[0] = 0; + planeData->m_pad[1] = 0; + planeData->m_pad[2] = 0; + planeData->m_pad[3] = 0; + return "btStaticPlaneShapeData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp index b3d449676..78ddeb370 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -293,6 +293,9 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s tmpIndices[gfxindex].m_values[0] = tri_indices[0]; tmpIndices[gfxindex].m_values[1] = tri_indices[1]; tmpIndices[gfxindex].m_values[2] = tri_indices[2]; + // Fill padding with zeros to appease msan. + tmpIndices[gfxindex].m_pad[0] = 0; + tmpIndices[gfxindex].m_pad[1] = 0; } serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); } @@ -311,6 +314,8 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s tmpIndices[gfxindex].m_values[0] = tri_indices[0]; tmpIndices[gfxindex].m_values[1] = tri_indices[1]; tmpIndices[gfxindex].m_values[2] = tri_indices[2]; + // Fill padding with zeros to appease msan. + tmpIndices[gfxindex].m_pad = 0; } serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); } @@ -375,6 +380,8 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr); } + // Fill padding with zeros to appease msan. + memset(trimeshData->m_padding, 0, sizeof(trimeshData->m_padding)); m_scaling.serializeFloat(trimeshData->m_scaling); return "btStridingMeshInterfaceData"; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h index 17deef89d..642758959 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h @@ -195,6 +195,13 @@ SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btS serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]); } + + // Fill padding with zeros to appease msan. + tmapData->m_padding[0] = 0; + tmapData->m_padding[1] = 0; + tmapData->m_padding[2] = 0; + tmapData->m_padding[3] = 0; + return "btTriangleInfoMapData"; } diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h index 02f8b678a..19f7ecddd 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h @@ -5,6 +5,22 @@ #include "btGImpactShape.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" +ATTRIBUTE_ALIGNED16(class) btCompoundFromGimpactShape : public btCompoundShape +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual ~btCompoundFromGimpactShape() + { + /*delete all the btBU_Simplex1to4 ChildShapes*/ + for (int i = 0; i < m_children.size(); i++) + { + delete m_children[i].m_childShape; + } + } + +}; + struct MyCallback : public btTriangleRaycastCallback { int m_ignorePart; @@ -77,7 +93,7 @@ struct MyCallback : public btTriangleRaycastCallback btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth) { - btCompoundShape* colShape = new btCompoundShape(); + btCompoundShape* colShape = new btCompoundFromGimpactShape(); btTransform tr; tr.setIdentity(); @@ -90,4 +106,4 @@ btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimp return colShape; } -#endif //BT_COMPOUND_FROM_GIMPACT \ No newline at end of file +#endif //BT_COMPOUND_FROM_GIMPACT diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessing.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessing.h index 0c66f8e10..d1027dbe6 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessing.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessing.h @@ -27,86 +27,7 @@ subject to the following restrictions: #include "LinearMath/btTransform.h" #include "LinearMath/btAlignedObjectArray.h" #include "btTriangleShapeEx.h" - - - -/** -Configuration var for applying interpolation of contact normals -*/ -#define NORMAL_CONTACT_AVERAGE 1 - -#define CONTACT_DIFF_EPSILON 0.00001f - -///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint. -///@todo: remove and replace GIM_CONTACT by btManifoldPoint. -class GIM_CONTACT -{ -public: - btVector3 m_point; - btVector3 m_normal; - btScalar m_depth;//Positive value indicates interpenetration - btScalar m_distance;//Padding not for use - int m_feature1;//Face number - int m_feature2;//Face number -public: - GIM_CONTACT() - { - } - - GIM_CONTACT(const GIM_CONTACT & contact): - m_point(contact.m_point), - m_normal(contact.m_normal), - m_depth(contact.m_depth), - m_feature1(contact.m_feature1), - m_feature2(contact.m_feature2) - { - } - - GIM_CONTACT(const btVector3 &point,const btVector3 & normal, - btScalar depth, int feature1, int feature2): - m_point(point), - m_normal(normal), - m_depth(depth), - m_feature1(feature1), - m_feature2(feature2) - { - } - - //! Calcs key for coord classification - SIMD_FORCE_INLINE unsigned int calc_key_contact() const - { - int _coords[] = { - (int)(m_point[0]*1000.0f+1.0f), - (int)(m_point[1]*1333.0f), - (int)(m_point[2]*2133.0f+3.0f)}; - unsigned int _hash=0; - unsigned int *_uitmp = (unsigned int *)(&_coords[0]); - _hash = *_uitmp; - _uitmp++; - _hash += (*_uitmp)<<4; - _uitmp++; - _hash += (*_uitmp)<<8; - return _hash; - } - - SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) - { - btVector3 vec_sum(m_normal); - for(int i=0;i { @@ -141,5 +62,4 @@ public: void merge_contacts_unique(const btContactArray & contacts); }; - #endif // GIM_CONTACT_H_INCLUDED diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessingStructs.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessingStructs.h new file mode 100644 index 000000000..efbc4a567 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btContactProcessingStructs.h @@ -0,0 +1,109 @@ +#ifndef BT_CONTACT_H_STRUCTS_INCLUDED +#define BT_CONTACT_H_STRUCTS_INCLUDED + +/*! \file gim_contact.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "LinearMath/btTransform.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btTriangleShapeEx.h" + + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 + +#define CONTACT_DIFF_EPSILON 0.00001f + +///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint. +///@todo: remove and replace GIM_CONTACT by btManifoldPoint. +class GIM_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + btScalar m_depth;//Positive value indicates interpenetration + btScalar m_distance;//Padding not for use + int m_feature1;//Face number + int m_feature2;//Face number +public: + GIM_CONTACT() + { + } + + GIM_CONTACT(const GIM_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + } + + GIM_CONTACT(const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE unsigned int calc_key_contact() const + { + int _coords[] = { + (int)(m_point[0]*1000.0f+1.0f), + (int)(m_point[1]*1333.0f), + (int)(m_point[2]*2133.0f+3.0f)}; + unsigned int _hash=0; + unsigned int *_uitmp = (unsigned int *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) + { + btVector3 vec_sum(m_normal); + for(int i=0;i @@ -74,59 +50,6 @@ public: } }; - -///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box -struct GIM_BVH_DATA -{ - btAABB m_bound; - int m_data; -}; - -//! Node Structure for trees -class GIM_BVH_TREE_NODE -{ -public: - btAABB m_bound; -protected: - int m_escapeIndexOrDataIndex; -public: - GIM_BVH_TREE_NODE() - { - m_escapeIndexOrDataIndex = 0; - } - - SIMD_FORCE_INLINE bool isLeafNode() const - { - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (m_escapeIndexOrDataIndex>=0); - } - - SIMD_FORCE_INLINE int getEscapeIndex() const - { - //btAssert(m_escapeIndexOrDataIndex < 0); - return -m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setEscapeIndex(int index) - { - m_escapeIndexOrDataIndex = -index; - } - - SIMD_FORCE_INLINE int getDataIndex() const - { - //btAssert(m_escapeIndexOrDataIndex >= 0); - - return m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setDataIndex(int index) - { - m_escapeIndexOrDataIndex = index; - } - -}; - - class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray { }; @@ -392,5 +315,4 @@ public: btPairSet & collision_pairs); }; - #endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactBvhStructs.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactBvhStructs.h new file mode 100644 index 000000000..9342a572d --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactBvhStructs.h @@ -0,0 +1,105 @@ +#ifndef GIM_BOX_SET_STRUCT_H_INCLUDED +#define GIM_BOX_SET_STRUCT_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btBoxCollision.h" +#include "btTriangleShapeEx.h" + +//! Overlapping pair +struct GIM_PAIR +{ + int m_index1; + int m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(int index1, int index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box +struct GIM_BVH_DATA +{ + btAABB m_bound; + int m_data; +}; + +//! Node Structure for trees +class GIM_BVH_TREE_NODE +{ +public: + btAABB m_bound; +protected: + int m_escapeIndexOrDataIndex; +public: + GIM_BVH_TREE_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + +}; + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h index e6e52fff4..42e5520fc 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -26,73 +26,7 @@ subject to the following restrictions: #include "btGImpactBvh.h" #include "btQuantization.h" - - - - - -///btQuantizedBvhNode is a compressed aabb node, 16 bytes. -///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). -ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE -{ - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes - int m_escapeIndexOrDataIndex; - - BT_QUANTIZED_BVH_NODE() - { - m_escapeIndexOrDataIndex = 0; - } - - SIMD_FORCE_INLINE bool isLeafNode() const - { - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (m_escapeIndexOrDataIndex>=0); - } - - SIMD_FORCE_INLINE int getEscapeIndex() const - { - //btAssert(m_escapeIndexOrDataIndex < 0); - return -m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setEscapeIndex(int index) - { - m_escapeIndexOrDataIndex = -index; - } - - SIMD_FORCE_INLINE int getDataIndex() const - { - //btAssert(m_escapeIndexOrDataIndex >= 0); - - return m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setDataIndex(int index) - { - m_escapeIndexOrDataIndex = index; - } - - SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( - unsigned short * quantizedMin,unsigned short * quantizedMax) const - { - if(m_quantizedAabbMin[0] > quantizedMax[0] || - m_quantizedAabbMax[0] < quantizedMin[0] || - m_quantizedAabbMin[1] > quantizedMax[1] || - m_quantizedAabbMax[1] < quantizedMin[1] || - m_quantizedAabbMin[2] > quantizedMax[2] || - m_quantizedAabbMax[2] < quantizedMin[2]) - { - return false; - } - return true; - } - -}; - - +#include "btGImpactQuantizedBvhStructs.h" class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray { @@ -368,5 +302,4 @@ public: btPairSet & collision_pairs); }; - #endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h new file mode 100644 index 000000000..7dd5a1b9d --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvhStructs.h @@ -0,0 +1,91 @@ +#ifndef GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED +#define GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED + +/*! \file btGImpactQuantizedBvh.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btGImpactBvh.h" +#include "btQuantization.h" + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE +{ + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrDataIndex; + + BT_QUANTIZED_BVH_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + if(m_quantizedAabbMin[0] > quantizedMax[0] || + m_quantizedAabbMax[0] < quantizedMin[0] || + m_quantizedAabbMin[1] > quantizedMax[1] || + m_quantizedAabbMax[1] < quantizedMin[1] || + m_quantizedAabbMin[2] > quantizedMax[2] || + m_quantizedAabbMax[2] < quantizedMin[2]) + { + return false; + } + return true; + } + +}; + +#endif // GIM_QUANTIZED_SET_STRUCTS_H_INCLUDED diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_array.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_array.h index 27e6f32fc..cda51a5fc 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_array.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_array.h @@ -228,7 +228,7 @@ public: inline void push_back_memcpy(const T & obj) { this->growingCheck(); - irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); + gim_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); m_size++; } diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h index d98051da3..0c48cb60f 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h @@ -41,10 +41,13 @@ email: projectileman@yahoo.com - +#ifndef PLANEDIREPSILON #define PLANEDIREPSILON 0.0000001f -#define PARALELENORMALS 0.000001f +#endif +#ifndef PARALELENORMALS +#define PARALELENORMALS 0.000001f +#endif #define TRIANGLE_NORMAL(v1,v2,v3,n)\ {\ diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_box_collision.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_box_collision.h index 9c572638a..a051b4fdb 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_box_collision.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_box_collision.h @@ -97,6 +97,8 @@ email: projectileman@yahoo.com // return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); //} +#ifndef TEST_CROSS_EDGE_BOX_MCR + #define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ {\ const btScalar dir0 = -edge[i_dir_0];\ @@ -113,6 +115,7 @@ email: projectileman@yahoo.com if(pmin>rad || -rad>pmax) return false;\ }\ +#endif #define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ {\ @@ -190,8 +193,9 @@ public: } }; - +#ifndef BOX_PLANE_EPSILON #define BOX_PLANE_EPSILON 0.000001f +#endif //! Axis aligned box class GIM_AABB @@ -571,7 +575,7 @@ public: } }; - +#ifndef BT_BOX_COLLISION_H_INCLUDED //! Compairison of transformation objects SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) { @@ -582,6 +586,7 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; return true; } +#endif diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_contact.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_contact.h index 5d9f8ef81..b41c714b5 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_contact.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_contact.h @@ -40,8 +40,15 @@ email: projectileman@yahoo.com /** Configuration var for applying interpolation of contact normals */ +#ifndef NORMAL_CONTACT_AVERAGE #define NORMAL_CONTACT_AVERAGE 1 +#endif + +#ifndef CONTACT_DIFF_EPSILON #define CONTACT_DIFF_EPSILON 0.00001f +#endif + +#ifndef BT_CONTACT_H_STRUCTS_INCLUDED /// Structure for collision results ///Functions for managing and sorting contacts resulting from a collision query. @@ -121,6 +128,7 @@ public: }; +#endif class gim_contact_array:public gim_array { diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_tri_collision.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_tri_collision.h index 5b552a1ed..267f806e7 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_tri_collision.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/gim_tri_collision.h @@ -38,8 +38,9 @@ email: projectileman@yahoo.com - +#ifndef MAX_TRI_CLIPPING #define MAX_TRI_CLIPPING 16 +#endif //! Structure for collision struct GIM_TRIANGLE_CONTACT_DATA diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h index 46ce1ab75..0ea7b483c 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @@ -67,10 +67,12 @@ struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result btVector3 m_closestPointInB; btScalar m_distance; //negative means penetration ! + protected: btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT)) { - } + + public: virtual ~btStorageResult() {}; virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 04ab54ed9..571ad2c5f 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -41,6 +41,7 @@ enum btContactPointFlags BT_CONTACT_FLAG_HAS_CONTACT_CFM=2, BT_CONTACT_FLAG_HAS_CONTACT_ERP=4, BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8, + BT_CONTACT_FLAG_FRICTION_ANCHOR = 16, }; /// ManifoldContactPoint collects and maintains persistent contactpoints. diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 4d92e853d..23aaece22 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -21,6 +21,8 @@ subject to the following restrictions: btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; ContactProcessedCallback gContactProcessedCallback = 0; +ContactStartedCallback gContactStartedCallback = 0; +ContactEndedCallback gContactEndedCallback = 0; ///gContactCalcArea3Points will approximate the convex hull area using 3 points ///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower bool gContactCalcArea3Points = true; @@ -279,6 +281,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT removeContactPoint(i); } else { + //todo: friction anchor may require the contact to be around a bit longer //contact also becomes invalid when relative movement orthogonal to normal exceeds margin projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1; projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index d220f2993..f872c8e1c 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -28,10 +28,18 @@ struct btCollisionResult; ///maximum contact breaking and merging threshold extern btScalar gContactBreakingThreshold; +#ifndef SWIG +class btPersistentManifold; + typedef bool (*ContactDestroyedCallback)(void* userPersistentData); typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1); +typedef void (*ContactStartedCallback)(btPersistentManifold* const &manifold); +typedef void (*ContactEndedCallback)(btPersistentManifold* const &manifold); extern ContactDestroyedCallback gContactDestroyedCallback; extern ContactProcessedCallback gContactProcessedCallback; +extern ContactStartedCallback gContactStartedCallback; +extern ContactEndedCallback gContactEndedCallback; +#endif //SWIG //the enum starts at 1024 to avoid type conflicts with btTypedConstraint enum btContactManifoldTypes @@ -51,8 +59,8 @@ enum btContactManifoldTypes ///note that some pairs of objects might have more then one contact manifold. -ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject -//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject +//ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject +ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject { btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]; @@ -171,40 +179,60 @@ public: btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); m_cachedPoints--; + + if (gContactEndedCallback && m_cachedPoints == 0) + { + gContactEndedCallback(this); + } } - void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex) + void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex) { btAssert(validContactDistance(newPoint)); #define MAINTAIN_PERSISTENCY 1 #ifdef MAINTAIN_PERSISTENCY - int lifeTime = m_pointCache[insertIndex].getLifeTime(); - btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; - btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; - btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; -// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized; - - - - btAssert(lifeTime>=0); - void* cache = m_pointCache[insertIndex].m_userPersistentData; - - m_pointCache[insertIndex] = newPoint; - m_pointCache[insertIndex].m_userPersistentData = cache; - m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; - m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; - m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; - + int lifeTime = m_pointCache[insertIndex].getLifeTime(); + btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; + btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; + + bool replacePoint = true; + ///we keep existing contact points for friction anchors + ///if the friction force is within the Coulomb friction cone + if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR) + { + // printf("appliedImpulse=%f\n", appliedImpulse); + // printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1); + // printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2); + // printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction); + btScalar mu = m_pointCache[insertIndex].m_combinedFriction; + btScalar eps = 0; //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7 + btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2; + btScalar b = eps + mu * appliedImpulse; + b = b * b; + replacePoint = (a) > (b); + } + + if (replacePoint) + { + btAssert(lifeTime >= 0); + void* cache = m_pointCache[insertIndex].m_userPersistentData; + + m_pointCache[insertIndex] = newPoint; + m_pointCache[insertIndex].m_userPersistentData = cache; + m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; + m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; + } m_pointCache[insertIndex].m_lifeTime = lifeTime; #else clearUserCache(m_pointCache[insertIndex]); m_pointCache[insertIndex] = newPoint; - + #endif } - bool validContactDistance(const btManifoldPoint& pt) const { return pt.m_distance1 <= getContactBreakingThreshold(); @@ -220,6 +248,11 @@ public: { clearUserCache(m_pointCache[i]); } + + if (gContactEndedCallback && m_cachedPoints) + { + gContactEndedCallback(this); + } m_cachedPoints = 0; } diff --git a/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt b/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt index 4023d721e..f8a6f34ba 100644 --- a/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt @@ -37,6 +37,7 @@ SET(BulletDynamics_SRCS Featherstone/btMultiBodyFixedConstraint.cpp Featherstone/btMultiBodySliderConstraint.cpp Featherstone/btMultiBodyJointMotor.cpp + Featherstone/btMultiBodyGearConstraint.cpp MLCPSolvers/btDantzigLCP.cpp MLCPSolvers/btMLCPSolver.cpp MLCPSolvers/btLemkeAlgorithm.cpp @@ -98,6 +99,7 @@ SET(Featherstone_HDRS Featherstone/btMultiBodyFixedConstraint.h Featherstone/btMultiBodySliderConstraint.h Featherstone/btMultiBodyJointMotor.h + Featherstone/btMultiBodyGearConstraint.h ) SET(MLCPSolvers_HDRS diff --git a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp index 68fa5206c..cb1aa71a1 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -137,8 +137,6 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho m_ghostObject = ghostObject; m_up.setValue(0.0f, 0.0f, 1.0f); m_jumpAxis.setValue(0.0f, 0.0f, 1.0f); - setUp(up); - setStepHeight(stepHeight); m_addedMargin = 0.02; m_walkDirection.setValue(0.0,0.0,0.0); m_AngVel.setValue(0.0, 0.0, 0.0); @@ -156,13 +154,16 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho m_wasOnGround = false; m_wasJumping = false; m_interpolateUp = true; - setMaxSlope(btRadians(45.0)); m_currentStepOffset = 0.0; m_maxPenetrationDepth = 0.2; full_drop = false; bounce_fix = false; m_linearDamping = btScalar(0.0); m_angularDamping = btScalar(0.0); + + setUp(up); + setStepHeight(stepHeight); + setMaxSlope(btRadians(45.0)); } btKinematicCharacterController::~btKinematicCharacterController () @@ -559,7 +560,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld break; } - if (m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) || runonce == true) + if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || runonce == true) { // we dropped a fraction of the height -> hit floor btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2; @@ -657,7 +658,7 @@ void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity if (c != 0) { //there is a component in walkdirection for vertical velocity - btVector3 upComponent = m_up * (sinf(SIMD_HALF_PI - acosf(c)) * m_walkDirection.length()); + btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length()); m_walkDirection -= upComponent; m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length(); @@ -751,7 +752,7 @@ void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWo m_wasOnGround = onGround(); //btVector3 lvel = m_walkDirection; - btScalar c = 0.0f; + //btScalar c = 0.0f; if (m_walkDirection.length2() > 0) { diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index 09b7388b6..0572256f7 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -642,7 +642,7 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr btTransform trDeltaAB = trB * trPose * trA.inverse(); btQuaternion qDeltaAB = trDeltaAB.getRotation(); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); - float swingAxisLen2 = swingAxis.length2(); + btScalar swingAxisLen2 = swingAxis.length2(); if(btFuzzyZero(swingAxisLen2)) { return; @@ -903,7 +903,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc // a^2 b^2 // Do the math and it should be clear. - float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1) + btScalar swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1) if (fabs(xEllipse) > SIMD_EPSILON) { btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index b7636180c..7a33d01d1 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -260,7 +260,7 @@ public: inline int getSolveSwingLimit() { - return m_solveTwistLimit; + return m_solveSwingLimit; } inline btScalar getTwistLimitSign() diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h index 477c79d17..adb226835 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -28,11 +28,13 @@ protected: btPersistentManifold m_contactManifold; -public: +protected: btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); +public: + void setContactManifold(btPersistentManifold* contactManifold); btPersistentManifold* getContactManifold() diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 739b066fe..28d0c1dd4 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -43,10 +43,13 @@ struct btContactSolverInfoData btScalar m_restitution; int m_numIterations; btScalar m_maxErrorReduction; - btScalar m_sor; - btScalar m_erp;//used as Baumgarte factor - btScalar m_erp2;//used in Split Impulse - btScalar m_globalCfm;//constraint force mixing + btScalar m_sor;//successive over-relaxation term + btScalar m_erp;//error reduction for non-contact constraints + btScalar m_erp2;//error reduction for contact constraints + btScalar m_globalCfm;//constraint force mixing for contacts and non-contacts + btScalar m_frictionERP;//error reduction for friction constraints + btScalar m_frictionCFM;//constraint force mixing for friction constraints + int m_splitImpulse; btScalar m_splitImpulsePenetrationThreshold; btScalar m_splitImpulseTurnErp; @@ -59,6 +62,7 @@ struct btContactSolverInfoData btScalar m_maxGyroscopicForce; btScalar m_singleAxisRollingFrictionThreshold; btScalar m_leastSquaresResidualThreshold; + btScalar m_restitutionVelocityThreshold; }; @@ -79,6 +83,8 @@ struct btContactSolverInfo : public btContactSolverInfoData m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); m_globalCfm = btScalar(0.); + m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default + m_frictionCFM = btScalar(0.); m_sor = btScalar(1.); m_splitImpulse = true; m_splitImpulsePenetrationThreshold = -.04f; @@ -92,6 +98,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. m_leastSquaresResidualThreshold = 0.f; + m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution } }; diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h index f9afcb912..e4613455a 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h @@ -141,6 +141,14 @@ SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSe gear->m_ratio = m_ratio; + // Fill padding with zeros to appease msan. +#ifndef BT_USE_DOUBLE_PRECISION + gear->m_padding[0] = 0; + gear->m_padding[1] = 0; + gear->m_padding[2] = 0; + gear->m_padding[3] = 0; +#endif + return btGearConstraintDataName; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index bc2b5a85d..fa17254ec 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -776,7 +776,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2( btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed) { int srow = row * info->rowskip; - int powered = limot->m_enableMotor; + bool powered = limot->m_enableMotor; int limit = limot->m_currentLimit; if (powered || limit) { // if the joint is powered, or has joint limits, add in the extra row @@ -840,7 +840,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2( } // if we're limited low and high simultaneously, the joint motor is // ineffective - if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0; + if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false; info->m_constraintError[srow] = btScalar(0.f); if (powered) { diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 49ff78c26..f0976ee49 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -729,6 +729,21 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( if (limot->m_enableMotor && limot->m_servoMotor) { btScalar error = limot->m_currentPosition - limot->m_servoTarget; + btScalar curServoTarget = limot->m_servoTarget; + if (rotational) + { + if (error > SIMD_PI) + { + error -= SIMD_2_PI; + curServoTarget +=SIMD_2_PI; + } + if (error < -SIMD_PI) + { + error += SIMD_2_PI; + curServoTarget -=SIMD_2_PI; + } + } + calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed); btScalar targetvelocity = error<0 ? -limot->m_targetVelocity : limot->m_targetVelocity; btScalar tag_vel = -targetvelocity; @@ -739,13 +754,13 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( btScalar hiLimit; if(limot->m_loLimit > limot->m_hiLimit) { - lowLimit = error > 0 ? limot->m_servoTarget : -SIMD_INFINITY; - hiLimit = error < 0 ? limot->m_servoTarget : SIMD_INFINITY; + lowLimit = error > 0 ? curServoTarget : -SIMD_INFINITY; + hiLimit = error < 0 ? curServoTarget : SIMD_INFINITY; } else { - lowLimit = error > 0 && limot->m_servoTarget>limot->m_loLimit ? limot->m_servoTarget : limot->m_loLimit; - hiLimit = error < 0 && limot->m_servoTargetm_hiLimit ? limot->m_servoTarget : limot->m_hiLimit; + lowLimit = error > 0 && curServoTarget>limot->m_loLimit ? curServoTarget : limot->m_loLimit; + hiLimit = error < 0 && curServoTargetm_hiLimit ? curServoTarget : limot->m_hiLimit; } mot_fact = getMotorFactor(limot->m_currentPosition, lowLimit, hiLimit, tag_vel, info->fps * limot->m_motorERP); } @@ -998,13 +1013,49 @@ void btGeneric6DofSpring2Constraint::setTargetVelocity(int index, btScalar veloc m_angularLimits[index - 3].m_targetVelocity = velocity; } -void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar target) + + +void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOrg) { btAssert((index >= 0) && (index < 6)); if (index<3) - m_linearLimits.m_servoTarget[index] = target; + { + m_linearLimits.m_servoTarget[index] = targetOrg; + } else + { + //wrap between -PI and PI, see also + //https://stackoverflow.com/questions/4633177/c-how-to-wrap-a-float-to-the-interval-pi-pi + + btScalar target = targetOrg+SIMD_PI; + if (1) + { + btScalar m = target - SIMD_2_PI * floor(target/SIMD_2_PI); + // handle boundary cases resulted from floating-point cut off: + { + if (m>=SIMD_2_PI) + { + target = 0; + } else + { + if (m<0 ) + { + if (SIMD_2_PI+m == SIMD_2_PI) + target = 0; + else + target = SIMD_2_PI+m; + } + else + { + target = m; + } + } + } + target -= SIMD_PI; + } + m_angularLimits[index - 3].m_servoTarget = target; + } } void btGeneric6DofSpring2Constraint::setMaxMotorForce(int index, btScalar force) diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h index 193e51e3b..66d176958 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h @@ -664,6 +664,11 @@ SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* da dof->m_rotateOrder = m_rotateOrder; + dof->m_padding1[0] = 0; + dof->m_padding1[1] = 0; + dof->m_padding1[2] = 0; + dof->m_padding1[3] = 0; + return btGeneric6DofSpring2ConstraintDataName; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 76a150947..7e5e6f9e5 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -556,12 +556,8 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf } // if the hinge has joint limits or motor, add in the extra row - int powered = 0; - if(getEnableAngularMotor()) - { - powered = 1; - } - if(limit || powered) + bool powered = getEnableAngularMotor(); + if(limit || powered) { nrow++; srow = nrow * info->rowskip; @@ -577,7 +573,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf btScalar histop = getUpperLimit(); if(limit && (lostop == histop)) { // the joint motor is ineffective - powered = 0; + powered = false; } info->m_constraintError[srow] = btScalar(0.0f); btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp; @@ -951,12 +947,8 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info } // if the hinge has joint limits or motor, add in the extra row - int powered = 0; - if(getEnableAngularMotor()) - { - powered = 1; - } - if(limit || powered) + bool powered = getEnableAngularMotor(); + if(limit || powered) { nrow++; srow = nrow * info->rowskip; @@ -972,7 +964,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info btScalar histop = getUpperLimit(); if(limit && (lostop == histop)) { // the joint motor is ineffective - powered = 0; + powered = false; } info->m_constraintError[srow] = btScalar(0.0f); btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp; diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index f26e72105..3c3df24db 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -314,7 +314,7 @@ public: { return m_enableAngularMotor; } - inline btScalar getMotorTargetVelosity() + inline btScalar getMotorTargetVelocity() { return m_motorTargetVelocity; } @@ -489,6 +489,14 @@ SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btS hingeData->m_relaxationFactor = float(m_relaxationFactor); #endif + // Fill padding with zeros to appease msan. +#ifdef BT_USE_DOUBLE_PRECISION + hingeData->m_padding1[0] = 0; + hingeData->m_padding1[1] = 0; + hingeData->m_padding1[2] = 0; + hingeData->m_padding1[3] = 0; +#endif + return btHingeConstraintDataName; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp index f110cd480..f3979be35 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp @@ -78,20 +78,6 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision btScalar deltaflengthsqr = 0; - - if (infoGlobal.m_solverMode & SOLVER_SIMD) - { - for (int j=0;jisEnabled()) - { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); - btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; - constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); - } - } - ///solve all contact constraints - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (int j=0;jbtScalar(0)) - { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - m_deltafCF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCF[j] = 0; - } - } - - int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); - for (int j=0;jbtScalar(0)) - { - btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; - if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) - rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; - - rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; - rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - m_deltafCRF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCRF[j] = 0; - } - } - } } @@ -362,10 +278,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision for (int j=0;jgetWorldTransform().getOrigin(); rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); - btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); - btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); - + btVector3 vel1; + btVector3 vel2; + solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1); solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 ); @@ -1126,8 +1140,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m -// const btVector3& pos1 = cp.getPositionWorldOnA(); -// const btVector3& pos2 = cp.getPositionWorldOnB(); /////setup the friction constraints @@ -1172,6 +1184,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) ///this will give a conveyor belt effect /// + if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED)) { cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; @@ -1181,7 +1194,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,infoGlobal); if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1189,7 +1202,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m cp.m_lateralFrictionDir2.normalize();//?? applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal); } } else @@ -1198,13 +1211,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal); } @@ -1216,10 +1229,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m } else { - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); @@ -1251,6 +1264,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol BT_PROFILE("solveGroupCacheFriendlySetup"); (void)debugDrawer; + // if solver mode has changed, + if ( infoGlobal.m_solverMode != m_cachedSolverMode ) + { + // update solver functions to use SIMD or non-SIMD + bool useSimd = !!( infoGlobal.m_solverMode & SOLVER_SIMD ); + setupSolverFunctions( useSimd ); + m_cachedSolverMode = infoGlobal.m_solverMode; + } m_maxOverrideNumSolverIterations = 0; #ifdef BT_ADDITIONAL_DEBUG @@ -1530,7 +1551,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); btScalar fsum = btFabs(sum); btAssert(fsum > SIMD_EPSILON); - solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?btScalar(1.)/sum : 0.f; + btScalar sorRelaxation = 1.f;//todo: get from globalInfo? + solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f; } @@ -1646,145 +1668,6 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration } } - if (infoGlobal.m_solverMode & SOLVER_SIMD) - { - ///solve all joint constraints, using SIMD, if available - for (int j=0;jisEnabled()) - { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); - btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; - constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); - } - } - - ///solve all contact constraints using SIMD, if available - if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) - { - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1; - - for (int c=0;cbtScalar(0)) - { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - - btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; - } - } - - if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) - { - - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; - - if (totalImpulse>btScalar(0)) - { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - - btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; - } - } - } - } - - } - else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS - { - //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - int j; - - for (j=0;jbtScalar(0)) - { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - - btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; - } - } - - - int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); - for (j=0;jbtScalar(0)) - { - btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; - if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) - rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; - - rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; - rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - - btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - leastSquaresResidual += residual*residual; - } - } - - - } - } - } else - { - //non-SIMD version ///solve all joint constraints for (int j=0;jsolveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); } } + ///solve all contact constraints - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (int j=0;jbtScalar(0)) + for (int c=0;cbtScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + leastSquaresResidual += residual*residual; + } + } + + if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) + { + + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; + + if (totalImpulse>btScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + leastSquaresResidual += residual*residual; + } + } + } + } + + } + else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS + { + //solve the friction constraints after all contact constraints, don't interleave them + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + + for (j=0;jbtScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + leastSquaresResidual += residual*residual; + } + } } - int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); - for (int j=0;jbtScalar(0)) + + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + for (int j=0;jrollingFrictionConstraint.m_friction) - rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; - rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; - rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + if (totalImpulse>btScalar(0)) + { + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; - btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - leastSquaresResidual += residual*residual; + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); + leastSquaresResidual += residual*residual; + } } - } + + } - } return leastSquaresResidual; } @@ -1863,7 +1811,6 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte int iteration; if (infoGlobal.m_splitImpulse) { - if (infoGlobal.m_solverMode & SOLVER_SIMD) { for ( iteration = 0;iteration=(infoGlobal.m_numIterations-1)) - { -#ifdef VERBOSE_RESIDUAL_PRINTF - printf("residual = %f at iteration #%d\n",leastSquaresResidual,iteration); -#endif - break; - } - } - } - } + } } } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 0dd31d142..16c7eb74c 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -56,12 +56,16 @@ protected: btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; + btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse; + int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed + void setupSolverFunctions( bool useSimd ); btScalar m_leastSquaresResidual; void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, @@ -69,7 +73,7 @@ protected: btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); - btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); + btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); @@ -85,20 +89,22 @@ protected: unsigned long m_btSeed2; - btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); - btSimdScalar resolveSplitPenetrationSIMD( - btSolverBody& bodyA,btSolverBody& bodyB, - const btSolverConstraint& contactConstraint); + btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + { + return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); + } - btScalar resolveSplitPenetrationImpulseCacheFriendly( - btSolverBody& bodyA,btSolverBody& bodyB, - const btSolverConstraint& contactConstraint); + btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + { + return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); + } //internal method int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); @@ -108,6 +114,10 @@ protected: btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + { + return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); + } protected: diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index f8f81bfe6..d63cef031 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -364,7 +364,6 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra int srow; btScalar limit_err; int limit; - int powered; // next two rows. // we want: velA + wA x relA == velB + wB x relB ... but this would @@ -470,13 +469,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra limit_err = getLinDepth() * signFact; limit = (limit_err > btScalar(0.0)) ? 2 : 1; } - powered = 0; - if(getPoweredLinMotor()) - { - powered = 1; - } + bool powered = getPoweredLinMotor(); // if the slider has joint limits or motor, add in the extra row - if (limit || powered) + if (limit || powered) { nrow++; srow = nrow * info->rowskip; @@ -524,7 +519,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra btScalar histop = getUpperLinLimit(); if(limit && (lostop == histop)) { // the joint motor is ineffective - powered = 0; + powered = false; } info->m_constraintError[srow] = 0.; info->m_lowerLimit[srow] = 0.; @@ -609,12 +604,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra limit = (limit_err > btScalar(0.0)) ? 1 : 2; } // if the slider has joint limits, add in the extra row - powered = 0; - if(getPoweredAngMotor()) - { - powered = 1; - } - if(limit || powered) + powered = getPoweredAngMotor(); + if(limit || powered) { nrow++; srow = nrow * info->rowskip; @@ -630,7 +621,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra btScalar histop = getUpperAngLimit(); if(limit && (lostop == histop)) { // the joint motor is ineffective - powered = 0; + powered = false; } currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp; if(powered) diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp index 736a64a1c..9f04f2805 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -19,7 +19,7 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" -#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f) +#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f) btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) :btTypedObject(type), diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 808f2720c..fc85b4f86 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -374,7 +374,7 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body) void btDiscreteDynamicsWorld::synchronizeMotionStates() { - BT_PROFILE("synchronizeMotionStates"); +// BT_PROFILE("synchronizeMotionStates"); if (m_synchronizeAllMotionStates) { //iterate over all collision objects @@ -402,7 +402,6 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, { startProfiling(timeStep); - BT_PROFILE("stepSimulation"); int numSimulationSubSteps = 0; @@ -539,7 +538,7 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const return m_gravity; } -void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask) +void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask) { btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask); } @@ -578,14 +577,14 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body) } bool isDynamic = !(body->isStaticObject() || body->isKinematicObject()); - short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter); - short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter); + int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); addCollisionObject(body,collisionFilterGroup,collisionFilterMask); } } -void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask) +void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask) { if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) { @@ -1512,6 +1511,9 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; + // Fill padding with zeros to appease msan. + memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding)); + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else//BT_USE_DOUBLE_PRECISION diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index d2789cc6b..b0d19f48a 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -144,11 +144,11 @@ public: virtual btVector3 getGravity () const; - virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); virtual void addRigidBody(btRigidBody* body); - virtual void addRigidBody(btRigidBody* body, short group, short mask); + virtual void addRigidBody(btRigidBody* body, int group, int mask); virtual void removeRigidBody(btRigidBody* body); diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp index 5e51a994c..1d10bad92 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -108,8 +108,108 @@ struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::Islan }; +/// +/// btConstraintSolverPoolMt +/// -btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) +btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver() +{ + int i = 0; +#if BT_THREADSAFE + i = btGetCurrentThreadIndex() % m_solvers.size(); +#endif // #if BT_THREADSAFE + while ( true ) + { + ThreadSolver& solver = m_solvers[ i ]; + if ( solver.mutex.tryLock() ) + { + return &solver; + } + // failed, try the next one + i = ( i + 1 ) % m_solvers.size(); + } + return NULL; +} + +void btConstraintSolverPoolMt::init( btConstraintSolver** solvers, int numSolvers ) +{ + m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER; + m_solvers.resize( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + m_solvers[ i ].solver = solvers[ i ]; + } + if ( numSolvers > 0 ) + { + m_solverType = solvers[ 0 ]->getSolverType(); + } +} + +// create the solvers for me +btConstraintSolverPoolMt::btConstraintSolverPoolMt( int numSolvers ) +{ + btAlignedObjectArray solvers; + solvers.reserve( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + btConstraintSolver* solver = new btSequentialImpulseConstraintSolver(); + solvers.push_back( solver ); + } + init( &solvers[ 0 ], numSolvers ); +} + +// pass in fully constructed solvers (destructor will delete them) +btConstraintSolverPoolMt::btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers ) +{ + init( solvers, numSolvers ); +} + +btConstraintSolverPoolMt::~btConstraintSolverPoolMt() +{ + // delete all solvers + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + delete solver.solver; + solver.solver = NULL; + } +} + +///solve a group of constraints +btScalar btConstraintSolverPoolMt::solveGroup( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& info, + btIDebugDraw* debugDrawer, + btDispatcher* dispatcher +) +{ + ThreadSolver* ts = getAndLockThreadSolver(); + ts->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher ); + ts->mutex.unlock(); + return 0.0f; +} + +void btConstraintSolverPoolMt::reset() +{ + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + solver.mutex.lock(); + solver.solver->reset(); + solver.mutex.unlock(); + } +} + + +/// +/// btDiscreteDynamicsWorldMt +/// + +btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration) : btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) { if (m_ownsIslandManager) @@ -124,8 +224,8 @@ btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,bt { void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16); btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); - m_islandManager = im; im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize ); + m_islandManager = im; } } @@ -145,7 +245,7 @@ btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() } -void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo) +void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo) { BT_PROFILE("solveConstraints"); @@ -160,3 +260,68 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo } +struct UpdaterUnconstrainedMotion : public btIParallelForBody +{ + btScalar timeStep; + btRigidBody** rigidBodies; + + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btRigidBody* body = rigidBodies[ i ]; + if ( !body->isStaticOrKinematicObject() ) + { + //don't integrate/update velocities here, it happens in the constraint solver + body->applyDamping( timeStep ); + body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() ); + } + } + } +}; + + +void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep ) +{ + BT_PROFILE( "predictUnconstraintMotion" ); + if ( m_nonStaticRigidBodies.size() > 0 ) + { + UpdaterUnconstrainedMotion update; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + int grainSize = 50; // num of iterations per task for task scheduler + btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update ); + } +} + + +void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep ) +{ + BT_PROFILE( "createPredictiveContacts" ); + releasePredictiveContacts(); + if ( m_nonStaticRigidBodies.size() > 0 ) + { + UpdaterCreatePredictiveContacts update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + int grainSize = 50; // num of iterations per task for task scheduler + btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update ); + } +} + + +void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep ) +{ + BT_PROFILE( "integrateTransforms" ); + if ( m_nonStaticRigidBodies.size() > 0 ) + { + UpdaterIntegrateTransforms update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + int grainSize = 50; // num of iterations per task for task scheduler + btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update ); + } +} + diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h index b28371b51..2f144cdda 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -18,24 +18,116 @@ subject to the following restrictions: #define BT_DISCRETE_DYNAMICS_WORLD_MT_H #include "btDiscreteDynamicsWorld.h" +#include "btSimulationIslandManagerMt.h" +#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" struct InplaceSolverIslandCallbackMt; +/// +/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them. +/// +/// Each solver in the pool is protected by a mutex. When solveGroup is called from a thread, +/// the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the +/// call to the solver. +/// So long as there are at least as many solvers as there are hardware threads, it should never need to +/// spin wait. +/// +class btConstraintSolverPoolMt : public btConstraintSolver +{ +public: + // create the solvers for me + explicit btConstraintSolverPoolMt( int numSolvers ); + + // pass in fully constructed solvers (destructor will delete them) + btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers ); + + virtual ~btConstraintSolverPoolMt(); + + ///solve a group of constraints + virtual btScalar solveGroup( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& info, + btIDebugDraw* debugDrawer, + btDispatcher* dispatcher + ) BT_OVERRIDE; + + virtual void reset() BT_OVERRIDE; + virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; } + +private: + const static size_t kCacheLineSize = 128; + struct ThreadSolver + { + btConstraintSolver* solver; + btSpinMutex mutex; + char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ]; // keep mutexes from sharing a cache line + }; + btAlignedObjectArray m_solvers; + btConstraintSolverType m_solverType; + + ThreadSolver* getAndLockThreadSolver(); + void init( btConstraintSolver** solvers, int numSolvers ); +}; + + + /// /// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support /// solving simulation islands on multiple threads. /// +/// Should function exactly like btDiscreteDynamicsWorld. +/// Also 3 methods that iterate over all of the rigidbodies can run in parallel: +/// - predictUnconstraintMotion +/// - integrateTransforms +/// - createPredictiveContacts +/// ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld { protected: InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt; - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE; + + virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE; + + struct UpdaterCreatePredictiveContacts : public btIParallelForBody + { + btScalar timeStep; + btRigidBody** rigidBodies; + btDiscreteDynamicsWorldMt* world; + + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE; + + struct UpdaterIntegrateTransforms : public btIParallelForBody + { + btScalar timeStep; + btRigidBody** rigidBodies; + btDiscreteDynamicsWorldMt* world; + + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE; public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading + btCollisionConfiguration* collisionConfiguration + ); virtual ~btDiscreteDynamicsWorldMt(); }; diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 4d65f5489..42d8fc0de 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -89,7 +89,7 @@ public: virtual void addRigidBody(btRigidBody* body) = 0; - virtual void addRigidBody(btRigidBody* body, short group, short mask) = 0; + virtual void addRigidBody(btRigidBody* body, int group, int mask) = 0; virtual void removeRigidBody(btRigidBody* body) = 0; @@ -135,6 +135,11 @@ public: return m_solverInfo; } + const btContactSolverInfo& getSolverInfo() const + { + return m_solverInfo; + } + ///obsolete, use addAction instead. virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp index 9402a658c..ca0714fcf 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -507,6 +507,11 @@ const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali rbd->m_linearSleepingThreshold=m_linearSleepingThreshold; rbd->m_angularSleepingThreshold = m_angularSleepingThreshold; + // Fill padding with zeros to appease msan. +#ifdef BT_USE_DOUBLE_PRECISION + memset(rbd->m_padding, 0, sizeof(rbd->m_padding)); +#endif + return btRigidBodyDataName; } diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp index 35dd38840..6f63b87c8 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -155,7 +155,7 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body) } } -void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask) +void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask) { body->setGravity(m_gravity); diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h index d48d2e39c..44b7e7fb3 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -56,7 +56,7 @@ public: virtual void addRigidBody(btRigidBody* body); - virtual void addRigidBody(btRigidBody* body, short group, short mask); + virtual void addRigidBody(btRigidBody* body, int group, int mask); virtual void removeRigidBody(btRigidBody* body); diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp index ad63b6ee0..99b34353c 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp @@ -15,6 +15,7 @@ subject to the following restrictions: #include "LinearMath/btScalar.h" +#include "LinearMath/btThreads.h" #include "btSimulationIslandManagerMt.h" #include "BulletCollision/BroadphaseCollision/btDispatcher.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" @@ -44,7 +45,7 @@ btSimulationIslandManagerMt::btSimulationIslandManagerMt() { m_minimumSolverBatchSize = calcBatchCost(0, 128, 0); m_batchIslandMinBodyCount = 32; - m_islandDispatch = defaultIslandDispatch; + m_islandDispatch = parallelIslandDispatch; m_batchIsland = NULL; } @@ -545,8 +546,9 @@ void btSimulationIslandManagerMt::mergeIslands() } -void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ) +void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ) { + BT_PROFILE( "serialIslandDispatch" ); // serial dispatch btAlignedObjectArray& islands = *islandsPtr; for ( int i = 0; i < islands.size(); ++i ) @@ -565,6 +567,41 @@ void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray* islandsPtr; + btSimulationIslandManagerMt::IslandCallback* callback; + + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; + btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; + callback->processIsland( &island->bodyArray[ 0 ], + island->bodyArray.size(), + manifolds, + island->manifoldArray.size(), + constraintsPtr, + island->constraintArray.size(), + island->id + ); + } + } +}; + +void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ) +{ + BT_PROFILE( "parallelIslandDispatch" ); + int grainSize = 1; // iterations per task + UpdateIslandDispatcher dispatcher; + dispatcher.islandsPtr = islandsPtr; + dispatcher.callback = callback; + btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); +} + + ///@todo: this is random access, it can be walked 'cache friendly'! void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h index 117061623..9a781aaef 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h @@ -59,7 +59,8 @@ public: ) = 0; }; typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray* islands, IslandCallback* callback ); - static void defaultIslandDispatch( btAlignedObjectArray* islands, IslandCallback* callback ); + static void serialIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ); + static void parallelIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ); protected: btAlignedObjectArray m_allocatedIslands; // owner of all Islands btAlignedObjectArray m_activeIslands; // islands actively in use diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.cpp index fbc2bbec4..8c7e499d8 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -52,6 +52,7 @@ namespace { bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in; } +#if 0 void InverseSpatialTransform(const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, @@ -81,6 +82,8 @@ namespace { top_out = a_top.cross(b_top); bottom_out = a_bottom.cross(b_top) + a_top.cross(b_bottom); } +#endif + } @@ -151,6 +154,8 @@ void btMultiBody::setupFixed(int i, m_links[i].m_mass = mass; m_links[i].m_inertiaLocal = inertia; m_links[i].m_parent = parent; + m_links[i].setAxisTop(0, 0., 0., 0.); + m_links[i].setAxisBottom(0, btVector3(0,0,0)); m_links[i].m_zeroRotParentToThis = rotParentToThis; m_links[i].m_dVector = thisPivotToThisComOffset; m_links[i].m_eVector = parentComToThisPivotOffset; @@ -427,6 +432,13 @@ const btQuaternion & btMultiBody::getParentToLocalRot(int i) const btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const { + btAssert(i>=-1); + btAssert(i=m_links.size())) + { + return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY); + } + btVector3 result = local_pos; while (i != -1) { // 'result' is in frame i. transform it to frame parent(i) @@ -444,6 +456,13 @@ btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const { + btAssert(i>=-1); + btAssert(i=m_links.size())) + { + return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY); + } + if (i == -1) { // world to base return quatRotate(getWorldToBaseRot(),(world_pos - getBasePos())); @@ -455,6 +474,14 @@ btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const { + btAssert(i>=-1); + btAssert(i=m_links.size())) + { + return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY); + } + + btVector3 result = local_dir; while (i != -1) { result = quatRotate(getParentToLocalRot(i).inverse() , result); @@ -466,6 +493,13 @@ btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const { + btAssert(i>=-1); + btAssert(i=m_links.size())) + { + return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY); + } + if (i == -1) { return quatRotate(getWorldToBaseRot(), world_dir); } else { @@ -490,7 +524,8 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const omega[0] = quatRotate(m_baseQuat ,getBaseOmega()); vel[0] = quatRotate(m_baseQuat ,getBaseVel()); - for (int i = 0; i < num_links; ++i) { + for (int i = 0; i < num_links; ++i) + { const int parent = m_links[i].m_parent; // transform parent vel into this frame, store in omega[i+1], vel[i+1] @@ -499,9 +534,24 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const omega[i+1], vel[i+1]); // now add qidot * shat_i - omega[i+1] += getJointVel(i) * m_links[i].getAxisTop(0); - vel[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0); - } + //only supported for revolute/prismatic joints, todo: spherical and planar joints + switch(m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + btVector3 axisTop = m_links[i].getAxisTop(0); + btVector3 axisBottom = m_links[i].getAxisBottom(0); + btScalar jointVel = getJointVel(i); + omega[i+1] += jointVel * axisTop; + vel[i+1] += jointVel * axisBottom; + break; + } + default: + { + } + } + } } btScalar btMultiBody::getKineticEnergy() const @@ -1206,7 +1256,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar -void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const +void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const { int num_links = getNumLinks(); ///solve I * x = rhs, so the result = invI * rhs @@ -1765,7 +1815,6 @@ void btMultiBody::goToSleep() void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) { - int num_links = getNumLinks(); extern bool gDisableDeactivation; if (!m_canSleep || gDisableDeactivation) { @@ -1934,6 +1983,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_parentIndex = getLink(i).m_parent; memPtr->m_jointDamping = getLink(i).m_jointDamping; memPtr->m_jointFriction = getLink(i).m_jointFriction; + memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit; + memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit; + memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce; + memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity; getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset); getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); @@ -1978,5 +2031,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali } mbd->m_links = mbd->m_numLinks? (btMultiBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0; + // Fill padding with zeros to appease msan. +#ifdef BT_USE_DOUBLE_PRECISION + memset(mbd->m_padding, 0, sizeof(mbd->m_padding)); +#endif + return btMultiBodyDataName; } diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.h index 43aacbc44..655165ac1 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.h @@ -140,6 +140,15 @@ public: return m_baseCollider; } + btMultiBodyLinkCollider* getLinkCollider(int index) + { + if (index >= 0 && index < getNumLinks()) + { + return getLink(index).m_collider; + } + return 0; + } + // // get parent // input: link num from 0 to num_links-1 @@ -560,6 +569,8 @@ void addJointTorque(int i, btScalar Q); } void forwardKinematics(btAlignedObjectArray& scratch_q,btAlignedObjectArray& scratch_m); + void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const; + void updateCollisionObjectWorldTransforms(btAlignedObjectArray& scratch_q,btAlignedObjectArray& scratch_m); virtual int calculateSerializeBufferSize() const; @@ -613,9 +624,8 @@ private: btMultiBody(const btMultiBody &); // not implemented void operator=(const btMultiBody &); // not implemented - void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const; - void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const; + void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, btScalar result[6]) const; void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const; void updateLinksDofOffsets() @@ -649,7 +659,6 @@ private: btVector3 m_baseConstraintTorque; // external torque applied to base. World frame. btAlignedObjectArray m_links; // array of m_links, excluding the base. index from 0 to num_links-1. - btAlignedObjectArray m_colliders; // @@ -727,7 +736,11 @@ struct btMultiBodyLinkDoubleData double m_jointDamping; double m_jointFriction; - + double m_jointLowerLimit; + double m_jointUpperLimit; + double m_jointMaxForce; + double m_jointMaxVelocity; + char *m_linkName; char *m_jointName; btCollisionObjectDoubleData *m_linkCollider; @@ -756,7 +769,11 @@ struct btMultiBodyLinkFloatData int m_posVarCount; float m_jointDamping; float m_jointFriction; - + float m_jointLowerLimit; + float m_jointUpperLimit; + float m_jointMaxForce; + float m_jointMaxVelocity; + char *m_linkName; char *m_jointName; btCollisionObjectFloatData *m_linkCollider; diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 74c6f5a81..83521b950 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -39,7 +39,7 @@ struct btMultiBodyJacobianData }; -class btMultiBodyConstraint +ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraint { protected: @@ -84,12 +84,18 @@ protected: public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral); virtual ~btMultiBodyConstraint(); void updateJacobianSizes(); void allocateJacobiansMultiDof(); + //many constraints have setFrameInB/setPivotInB. Will use 'getConstraintType' later. + virtual void setFrameInB(const btMatrix3x3& frameInB) {} + virtual void setPivotInB(const btVector3& pivotInB){} + virtual void finalizeMultiDof()=0; virtual int getIslandIdA() const =0; @@ -177,6 +183,12 @@ public: virtual void debugDraw(class btIDebugDraw* drawer)=0; + virtual void setGearRatio(btScalar ratio) {} + virtual void setGearAuxLink(int gearAuxLink) {} + virtual void setRelativePositionTarget(btScalar relPosTarget){} + virtual void setErp(btScalar erp){} + + }; #endif //BT_MULTIBODY_CONSTRAINT_H diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 70e6c9922..1e2d07409 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -48,9 +48,11 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl } //solve featherstone normal contact - for (int j=0;jm_multiBodyFrictionContactConstraints.size();j++) + for (int j1=0;j1m_multiBodyFrictionContactConstraints.size();j1++) { if (iteration < infoGlobal.m_numIterations) { - btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j]; + int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; //adjust friction limits here if (totalImpulse>btScalar(0)) @@ -240,32 +244,39 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol //cfm = 1 / ( dt * kp + kd ) //erp = dt * kp / ( dt * kp + kd ) - btScalar cfm = infoGlobal.m_globalCfm; - btScalar erp = infoGlobal.m_erp2; - - if ((cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP)) - { - if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) - cfm = cp.m_contactCFM; - if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP) - erp = cp.m_contactERP; - } else - { - if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING) - { - btScalar denom = ( infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1 ); - if (denom < SIMD_EPSILON) - { - denom = SIMD_EPSILON; - } - cfm = btScalar(1) / denom; - erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom; - } - } - - cfm *= invTimeStep; + btScalar cfm; + btScalar erp; + if (isFriction) + { + cfm = infoGlobal.m_frictionCFM; + erp = infoGlobal.m_frictionERP; + } else + { + cfm = infoGlobal.m_globalCfm; + erp = infoGlobal.m_erp2; + if ((cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) || (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP)) + { + if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_CFM) + cfm = cp.m_contactCFM; + if (cp.m_contactPointFlags&BT_CONTACT_FLAG_HAS_CONTACT_ERP) + erp = cp.m_contactERP; + } else + { + if (cp.m_contactPointFlags & BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING) + { + btScalar denom = ( infoGlobal.m_timeStep * cp.m_combinedContactStiffness1 + cp.m_combinedContactDamping1 ); + if (denom < SIMD_EPSILON) + { + denom = SIMD_EPSILON; + } + cfm = btScalar(1) / denom; + erp = (infoGlobal.m_timeStep * cp.m_combinedContactStiffness1) / denom; + } + } + } + cfm *= invTimeStep; if (multiBodyA) { @@ -425,8 +436,19 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol btScalar restitution = 0.f; - btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop; - + btScalar distance = 0; + if (!isFriction) + { + distance = cp.getDistance()+infoGlobal.m_linearSlop; + } else + { + if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR) + { + distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(contactNormal); + } + } + + btScalar rel_vel = 0.f; int ndofA = 0; int ndofB = 0; @@ -469,7 +491,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol if(!isFriction) { - restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -521,15 +543,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction - - if (penetration>0) + if (isFriction) { - positionalError = 0; - velocityError -= penetration / infoGlobal.m_timeStep; - + positionalError = -distance * erp/infoGlobal.m_timeStep; } else { - positionalError = -penetration * erp/infoGlobal.m_timeStep; + if (distance>0) + { + positionalError = 0; + velocityError -= distance / infoGlobal.m_timeStep; + + } else + { + positionalError = -distance * erp/infoGlobal.m_timeStep; + } } btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; @@ -556,7 +583,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } else { - solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_rhsPenetration = 0.f; solverConstraint.m_lowerLimit = -solverConstraint.m_friction; solverConstraint.m_upperLimit = solverConstraint.m_friction; @@ -602,7 +629,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu relaxation = infoGlobal.m_sor; - btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep; + // btScalar invTimeStep = btScalar(1)/infoGlobal.m_timeStep; if (multiBodyA) @@ -638,12 +665,12 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis0 = constraintNormal; + btVector3 torqueAxis0 = -constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0,0,0); } else { - btVector3 torqueAxis0 = constraintNormal; + btVector3 torqueAxis0 = -constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0,0,0); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); @@ -681,21 +708,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); btVector3 torqueAxis1 = constraintNormal; - solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0,0,0); } else { btVector3 torqueAxis1 = constraintNormal; - solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0,0,0); - solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); } { - btVector3 vec; btScalar denom0 = 0.f; btScalar denom1 = 0.f; btScalar* jacB = 0; @@ -718,8 +744,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu { if (rb0) { - vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); - denom0 = rb0->getInvMass() + constraintNormal.dot(vec); + btVector3 iMJaA = rb0?rb0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0); + denom0 = iMJaA.dot(solverConstraint.m_relpos1CrossNormal); } } if (multiBodyB) @@ -738,8 +764,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu { if (rb1) { - vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); - denom1 = rb1->getInvMass() + constraintNormal.dot(vec); + btVector3 iMJaB = rb1?rb1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); + denom1 = iMJaB.dot(solverConstraint.m_relpos2CrossNormal); } } @@ -781,7 +807,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu { if (rb0) { - rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA]; + rel_vel += solverConstraint.m_contactNormal1.dot(rb0?solverBodyA->m_linearVelocity+solverBodyA->m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos1CrossNormal.dot(rb0?solverBodyA->m_angularVelocity:btVector3(0,0,0)); + } } if (multiBodyB) @@ -795,7 +824,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu { if (rb1) { - rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB]; + rel_vel += solverConstraint.m_contactNormal2.dot(rb1?solverBodyB->m_linearVelocity+solverBodyB->m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(rb1?solverBodyB->m_angularVelocity:btVector3(0,0,0)); + } } @@ -803,7 +835,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu if(!isFriction) { - restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -817,13 +849,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu { - btScalar positionalError = 0.f; - btScalar velocityError = restitution - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction + btScalar velocityError = 0 - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction - if (penetration>0) - { - velocityError -= penetration / infoGlobal.m_timeStep; - } + btScalar velocityImpulse = velocityError*solverConstraint.m_jacDiagABInv; @@ -995,6 +1023,33 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) ///this will give a conveyor belt effect /// + + btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + cp.m_lateralFrictionDir1.normalize(); + cp.m_lateralFrictionDir2.normalize(); + + if (rollingFriction > 0 ) + { + if (cp.m_combinedSpinningFriction>0) + { + addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal); + } + if (cp.m_combinedRollingFriction>0) + { + + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + + if (cp.m_lateralFrictionDir1.length()>0.001) + addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal); + + if (cp.m_lateralFrictionDir2.length()>0.001) + addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal); + } + rollingFriction--; + } if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED)) {/* cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; @@ -1019,20 +1074,12 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else */ { - btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal); - if (rollingFriction > 0) - { - addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal); - addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal); - addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal); - - rollingFriction--; - } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 4b33cf69d..9eacc2264 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -24,7 +24,7 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" -void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, short group, short mask) +void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, int group, int mask) { m_multiBodies.push_back(body); @@ -332,10 +332,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: } } - if (m_solverInfo->m_minimumSolverBatchSize<=1) - { - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - } else + //if (m_solverInfo->m_minimumSolverBatchSize<=1) + //{ + // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + //} else { for (i=0;im_multiBodies.size();i++) { btMultiBody* bod = m_multiBodies[i]; diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index 2c912da5c..c0c132bbb 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -58,7 +58,7 @@ public: virtual ~btMultiBodyDynamicsWorld (); - virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter); + virtual void addMultiBody(btMultiBody* body, int group= btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -72,6 +72,11 @@ public: return m_multiBodies[mbIndex]; } + const btMultiBody* getMultiBody(int mbIndex) const + { + return m_multiBodies[mbIndex]; + } + virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint); virtual int getNumMultiBodyConstraints() const diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h index 26e28a74e..036025136 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h @@ -62,7 +62,7 @@ public: return m_pivotInB; } - void setPivotInB(const btVector3& pivotInB) + virtual void setPivotInB(const btVector3& pivotInB) { m_pivotInB = pivotInB; } @@ -82,7 +82,7 @@ public: return m_frameInB; } - void setFrameInB(const btMatrix3x3& frameInB) + virtual void setFrameInB(const btMatrix3x3& frameInB) { m_frameInB = frameInB; } diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp new file mode 100644 index 000000000..5fdb7007d --- /dev/null +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp @@ -0,0 +1,184 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyGearConstraint.h" +#include "btMultiBody.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB) + :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false), + m_gearRatio(1), + m_gearAuxLink(-1), + m_erp(0), + m_relativePositionTarget(0) +{ + +} + +void btMultiBodyGearConstraint::finalizeMultiDof() +{ + + allocateJacobiansMultiDof(); + + m_numDofsFinalized = m_jacSizeBoth; +} + +btMultiBodyGearConstraint::~btMultiBodyGearConstraint() +{ +} + + +int btMultiBodyGearConstraint::getIslandIdA() const +{ + + if (m_bodyA) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;igetNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } + } + return -1; +} + +int btMultiBodyGearConstraint::getIslandIdB() const +{ + if (m_bodyB) + { + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + + for (int i=0;igetNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } + } + return -1; +} + + +void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) +{ + // only positions need to be updated -- data.m_jacobians and force + // directions were set in the ctor and never change. + + if (m_numDofsFinalized != m_jacSizeBoth) + { + finalizeMultiDof(); + } + + //don't crash + if (m_numDofsFinalized != m_jacSizeBoth) + return; + + + if (m_maxAppliedImpulse==0.f) + return; + + // note: we rely on the fact that data.m_jacobians are + // always initialized to zero by the Constraint ctor + int linkDoF = 0; + unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); + unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF); + + // row 0: the lower bound + jacobianA(0)[offsetA] = 1; + jacobianB(0)[offsetB] = m_gearRatio; + + btScalar posError = 0; + const btVector3 dummy(0, 0, 0); + + btScalar kp = 1; + btScalar kd = 1; + int numRows = getNumRows(); + + for (int row=0;rowgetJointPosMultiDof(m_linkA)[dof]; + btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; + btScalar auxVel = 0; + + if (m_gearAuxLink>=0) + { + auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof]; + } + currentVelocity += auxVel; + if (m_erp!=0) + { + btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof]; + btScalar diff = currentPositionB+currentPositionA; + btScalar desiredPositionDiff = this->m_relativePositionTarget; + posError = -m_erp*(desiredPositionDiff - diff); + } + + btScalar desiredRelativeVelocity = auxVel; + + fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity); + + constraintRow.m_orgConstraint = this; + constraintRow.m_orgDofIndex = row; + { + //expect either prismatic or revolute joint type for now + btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic)); + switch (m_bodyA->getLink(m_linkA).m_jointType) + { + case btMultibodyLink::eRevolute: + { + constraintRow.m_contactNormal1.setZero(); + constraintRow.m_contactNormal2.setZero(); + btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec); + constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld; + constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld; + + break; + } + case btMultibodyLink::ePrismatic: + { + btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec); + constraintRow.m_contactNormal1=prismaticAxisInWorld; + constraintRow.m_contactNormal2=-prismaticAxisInWorld; + constraintRow.m_relpos1CrossNormal.setZero(); + constraintRow.m_relpos2CrossNormal.setZero(); + break; + } + default: + { + btAssert(0); + } + }; + + } + + } + +} + diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h new file mode 100644 index 000000000..0115de624 --- /dev/null +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h @@ -0,0 +1,117 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +///This file was written by Erwin Coumans + +#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H +#define BT_MULTIBODY_GEAR_CONSTRAINT_H + +#include "btMultiBodyConstraint.h" + +class btMultiBodyGearConstraint : public btMultiBodyConstraint +{ +protected: + + btRigidBody* m_rigidBodyA; + btRigidBody* m_rigidBodyB; + btVector3 m_pivotInA; + btVector3 m_pivotInB; + btMatrix3x3 m_frameInA; + btMatrix3x3 m_frameInB; + btScalar m_gearRatio; + int m_gearAuxLink; + btScalar m_erp; + btScalar m_relativePositionTarget; + +public: + + //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); + btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); + + virtual ~btMultiBodyGearConstraint(); + + virtual void finalizeMultiDof(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + void setPivotInA(const btVector3& pivotInA) + { + m_pivotInA = pivotInA; + } + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } + + virtual void setPivotInB(const btVector3& pivotInB) + { + m_pivotInB = pivotInB; + } + + const btMatrix3x3& getFrameInA() const + { + return m_frameInA; + } + + void setFrameInA(const btMatrix3x3& frameInA) + { + m_frameInA = frameInA; + } + + const btMatrix3x3& getFrameInB() const + { + return m_frameInB; + } + + virtual void setFrameInB(const btMatrix3x3& frameInB) + { + m_frameInB = frameInB; + } + + virtual void debugDraw(class btIDebugDraw* drawer) + { + //todo(erwincoumans) + } + + virtual void setGearRatio(btScalar gearRatio) + { + m_gearRatio = gearRatio; + } + virtual void setGearAuxLink(int gearAuxLink) + { + m_gearAuxLink = gearAuxLink; + } + virtual void setRelativePositionTarget(btScalar relPosTarget) + { + m_relativePositionTarget = relPosTarget; + } + virtual void setErp(btScalar erp) + { + m_erp = erp; + } +}; + +#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp index 707817673..6d173b66a 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp @@ -110,7 +110,13 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint for (int row=0;row0) + { + continue; + } btScalar direction = row? -1 : 1; btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); @@ -158,7 +164,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint } { - btScalar penetration = getPosition(row); + btScalar positionalError = 0.f; btScalar velocityError = - rel_vel;// * damping; btScalar erp = infoGlobal.m_erp2; diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 2a88d806e..e0921178e 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -117,6 +117,9 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con if (m_numDofsFinalized != m_jacSizeBoth) return; + if (m_maxAppliedImpulse==0.f) + return; + const btScalar posError = 0; const btVector3 dummy(0, 0, 0); diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h index a25961116..01828e584 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -22,7 +22,8 @@ subject to the following restrictions: enum btMultiBodyLinkFlags { - BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1 + BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1, + BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2, }; //both defines are now permanently enabled @@ -95,9 +96,18 @@ struct btMultibodyLink // m_axesBottom[1][2] = unit vectors along the translational axes on that plane btSpatialMotionVector m_axes[6]; void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; } - void setAxisBottom(int dof, const btVector3 &axis) { m_axes[dof].m_bottomVec = axis; } - void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_topVec.setValue(x, y, z); } - void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_bottomVec.setValue(x, y, z); } + void setAxisBottom(int dof, const btVector3 &axis) + { + m_axes[dof].m_bottomVec = axis; + } + void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) + { + m_axes[dof].m_topVec.setValue(x, y, z); + } + void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) + { + m_axes[dof].m_bottomVec.setValue(x, y, z); + } const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; } const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; } @@ -136,7 +146,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping. btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor. - + btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader. + btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader. + // ctor: set some sensible defaults btMultibodyLink() : m_mass(1), @@ -153,7 +167,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame m_jointName(0), m_userPtr(0), m_jointDamping(0), - m_jointFriction(0) + m_jointFriction(0), + m_jointLowerLimit(0), + m_jointUpperLimit(0), + m_jointMaxForce(0), + m_jointMaxVelocity(0) { m_inertiaLocal.setValue(1, 1, 1); diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index 5080ea874..671e15d31 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -74,15 +74,48 @@ public: if (m_link>=0) { const btMultibodyLink& link = m_multiBody->getLink(this->m_link); - if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link) - return false; + if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) + { + int parent_of_this = m_link; + while (1) + { + if (parent_of_this==-1) + break; + parent_of_this = m_multiBody->getLink(parent_of_this).m_parent; + if (parent_of_this==other->m_link) + { + return false; + } + } + } + else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) + { + if ( link.m_parent == other->m_link) + return false; + } + } - + if (other->m_link>=0) { const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); - if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.m_parent == this->m_link) - return false; + if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION) + { + int parent_of_other = other->m_link; + while (1) + { + if (parent_of_other==-1) + break; + parent_of_other = m_multiBody->getLink(parent_of_other).m_parent; + if (parent_of_other==this->m_link) + return false; + } + } + else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) + { + if (otherLink.m_parent == this->m_link) + return false; + } } return true; } diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h index b2e219ac1..bf39acc5b 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h @@ -22,7 +22,7 @@ subject to the following restrictions: //#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST -class btMultiBodyPoint2Point : public btMultiBodyConstraint +ATTRIBUTE_ALIGNED16(class) btMultiBodyPoint2Point : public btMultiBodyConstraint { protected: @@ -34,6 +34,8 @@ protected: public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB); btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB); @@ -53,11 +55,12 @@ public: return m_pivotInB; } - void setPivotInB(const btVector3& pivotInB) + virtual void setPivotInB(const btVector3& pivotInB) { m_pivotInB = pivotInB; } + virtual void debugDraw(class btIDebugDraw* drawer); }; diff --git a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h index 571dcd53b..0a6cf3df1 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h @@ -63,7 +63,7 @@ public: return m_pivotInB; } - void setPivotInB(const btVector3& pivotInB) + virtual void setPivotInB(const btVector3& pivotInB) { m_pivotInB = pivotInB; } @@ -83,7 +83,7 @@ public: return m_frameInB; } - void setFrameInB(const btMatrix3x3& frameInB) + virtual void setFrameInB(const btMatrix3x3& frameInB) { m_frameInB = frameInB; } diff --git a/Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h index 82d44c73e..04656b912 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h +++ b/Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -19,7 +19,7 @@ class btDynamicsWorld; #include "btWheelInfo.h" #include "BulletDynamics/Dynamics/btActionInterface.h" -class btVehicleTuning; +//class btVehicleTuning; ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. class btRaycastVehicle : public btActionInterface diff --git a/Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h b/Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h index f916053ec..f991a57b6 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h +++ b/Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h @@ -79,6 +79,8 @@ struct btWheelInfo void* m_clientInfo;//can be used to store pointer to sync transforms... + btWheelInfo() {} + btWheelInfo(btWheelInfoConstructionInfo& ci) { diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/IDConfig.hpp b/Engine/lib/bullet/src/BulletInverseDynamics/IDConfig.hpp index c34f98941..ebb10e7a1 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/IDConfig.hpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/IDConfig.hpp @@ -14,12 +14,22 @@ #ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H #include #define BT_ID_WO_BULLET -#define BT_ID_POW(a,b) std::pow(a,b) +#define BT_ID_SQRT(x) std::sqrt(x) +#define BT_ID_FABS(x) std::fabs(x) +#define BT_ID_COS(x) std::cos(x) +#define BT_ID_SIN(x) std::sin(x) +#define BT_ID_ATAN2(x, y) std::atan2(x, y) +#define BT_ID_POW(x, y) std::pow(x, y) #define BT_ID_SNPRINTF snprintf #define BT_ID_PI M_PI #define BT_ID_USE_DOUBLE_PRECISION #else -#define BT_ID_POW(a,b) btPow(a,b) +#define BT_ID_SQRT(x) btSqrt(x) +#define BT_ID_FABS(x) btFabs(x) +#define BT_ID_COS(x) btCos(x) +#define BT_ID_SIN(x) btSin(x) +#define BT_ID_ATAN2(x, y) btAtan2(x, y) +#define BT_ID_POW(x, y) btPow(x, y) #define BT_ID_PI SIMD_PI #ifdef _WIN32 #define BT_ID_SNPRINTF _snprintf @@ -58,6 +68,10 @@ typedef btScalar idScalar; #ifdef BT_USE_DOUBLE_PRECISION #define BT_ID_USE_DOUBLE_PRECISION #endif + +#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2 + + // use bullet types for arrays and array indices #include "Bullet3Common/b3AlignedObjectArray.h" // this is to make it work with C++2003, otherwise we could do this: @@ -68,7 +82,20 @@ struct idArray { typedef b3AlignedObjectArray type; }; typedef int idArrayIdx; -#define ID_DECLARE_ALIGNED_ALLOCATOR B3_DECLARE_ALIGNED_ALLOCATOR +#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR() + +#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2 + +#include "LinearMath/btAlignedObjectArray.h" +template +struct idArray { + typedef btAlignedObjectArray type; +}; +typedef int idArrayIdx; +#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR() + +#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2 + // use bullet's allocator functions #define idMalloc btAllocFunc diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/IDErrorMessages.hpp b/Engine/lib/bullet/src/BulletInverseDynamics/IDErrorMessages.hpp index a3866edc5..1dc22f860 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/IDErrorMessages.hpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/IDErrorMessages.hpp @@ -5,7 +5,7 @@ /// name of file being compiled, without leading path components #define __INVDYN_FILE_WO_DIR__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__) -#ifndef BT_ID_WO_BULLET +#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2) #include "Bullet3Common/b3Logging.h" #define error_message(...) b3Error(__VA_ARGS__) #define warning_message(...) b3Warning(__VA_ARGS__) @@ -24,11 +24,6 @@ fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, __VA_ARGS__); \ } while (0) -#define warning_message(...) \ - do { \ - fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ - fprintf(stderr, __VA_ARGS__); \ - } while (0) #define id_printf(...) printf(__VA_ARGS__) #endif // BT_ID_WO_BULLET #endif diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.cpp b/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.cpp index 03452ca0c..99fe20e49 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.cpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.cpp @@ -33,10 +33,22 @@ void setZero(mat33 &m) { m(2, 2) = 0; } +void skew(vec3& v, mat33* result) { + (*result)(0, 0) = 0.0; + (*result)(0, 1) = -v(2); + (*result)(0, 2) = v(1); + (*result)(1, 0) = v(2); + (*result)(1, 1) = 0.0; + (*result)(1, 2) = -v(0); + (*result)(2, 0) = -v(1); + (*result)(2, 1) = v(0); + (*result)(2, 2) = 0.0; +} + idScalar maxAbs(const vecx &v) { idScalar result = 0.0; for (int i = 0; i < v.size(); i++) { - const idScalar tmp = std::fabs(v(i)); + const idScalar tmp = BT_ID_FABS(v(i)); if (tmp > result) { result = tmp; } @@ -47,7 +59,7 @@ idScalar maxAbs(const vecx &v) { idScalar maxAbs(const vec3 &v) { idScalar result = 0.0; for (int i = 0; i < 3; i++) { - const idScalar tmp = std::fabs(v(i)); + const idScalar tmp = BT_ID_FABS(v(i)); if (tmp > result) { result = tmp; } @@ -69,7 +81,7 @@ idScalar maxAbsMat3x(const mat3x &m) { void mul(const mat33 &a, const mat3x &b, mat3x *result) { if (b.cols() != result->cols()) { - error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", + error_message("size missmatch. b.cols()= %d, result->cols()= %d\n", static_cast(b.cols()), static_cast(result->cols())); abort(); } @@ -111,8 +123,8 @@ void sub(const mat3x &a, const mat3x &b, mat3x *result) { mat33 transformX(const idScalar &alpha) { mat33 T; - const idScalar cos_alpha = std::cos(alpha); - const idScalar sin_alpha = std::sin(alpha); + const idScalar cos_alpha = BT_ID_COS(alpha); + const idScalar sin_alpha = BT_ID_SIN(alpha); // [1 0 0] // [0 c s] // [0 -s c] @@ -133,8 +145,8 @@ mat33 transformX(const idScalar &alpha) { mat33 transformY(const idScalar &beta) { mat33 T; - const idScalar cos_beta = std::cos(beta); - const idScalar sin_beta = std::sin(beta); + const idScalar cos_beta = BT_ID_COS(beta); + const idScalar sin_beta = BT_ID_SIN(beta); // [c 0 -s] // [0 1 0] // [s 0 c] @@ -155,8 +167,8 @@ mat33 transformY(const idScalar &beta) { mat33 transformZ(const idScalar &gamma) { mat33 T; - const idScalar cos_gamma = std::cos(gamma); - const idScalar sin_gamma = std::sin(gamma); + const idScalar cos_gamma = BT_ID_COS(gamma); + const idScalar sin_gamma = BT_ID_SIN(gamma); // [ c s 0] // [-s c 0] // [ 0 0 1] @@ -190,10 +202,10 @@ mat33 tildeOperator(const vec3 &v) { } void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec3 *r, mat33 *T) { - const idScalar sa = std::sin(alpha); - const idScalar ca = std::cos(alpha); - const idScalar st = std::sin(theta); - const idScalar ct = std::cos(theta); + const idScalar sa = BT_ID_SIN(alpha); + const idScalar ca = BT_ID_COS(alpha); + const idScalar st = BT_ID_SIN(theta); + const idScalar ct = BT_ID_COS(theta); (*r)(0) = a; (*r)(1) = -sa * d; @@ -213,8 +225,8 @@ void getVecMatFromDH(idScalar theta, idScalar d, idScalar a, idScalar alpha, vec } void bodyTParentFromAxisAngle(const vec3 &axis, const idScalar &angle, mat33 *T) { - const idScalar c = cos(angle); - const idScalar s = -sin(angle); + const idScalar c = BT_ID_COS(angle); + const idScalar s = -BT_ID_SIN(angle); const idScalar one_m_c = 1.0 - c; const idScalar &x = axis(0); @@ -347,19 +359,19 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) } } // check symmetry - if (std::fabs(I(1, 0) - I(0, 1)) > kIsZero) { + if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero) { error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " "%e\n", index, I(1, 0) - I(0, 1)); return false; } - if (std::fabs(I(2, 0) - I(0, 2)) > kIsZero) { + if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero) { error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " "%e\n", index, I(2, 0) - I(0, 2)); return false; } - if (std::fabs(I(1, 2) - I(2, 1)) > kIsZero) { + if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero) { error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, I(1, 2) - I(2, 1)); return false; @@ -375,7 +387,7 @@ bool isValidTransformMatrix(const mat33 &m) { // check for unit length column vectors for (int i = 0; i < 3; i++) { const idScalar length_minus_1 = - std::fabs(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0); + BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0); if (length_minus_1 > kAxisLengthEpsilon) { error_message("Not a valid rotation matrix (column %d not unit length)\n" "column = [%.18e %.18e %.18e]\n" @@ -386,17 +398,17 @@ bool isValidTransformMatrix(const mat33 &m) { } } // check for orthogonal column vectors - if (std::fabs(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) { + if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) { error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); print_mat(m); return false; } - if (std::fabs(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) { + if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) { error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; } - if (std::fabs(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) { + if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) { error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; @@ -411,15 +423,15 @@ bool isValidTransformMatrix(const mat33 &m) { } bool isUnitVector(const vec3 &vector) { - return std::fabs(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) < + return BT_ID_FABS(vector(0) * vector(0) + vector(1) * vector(1) + vector(2) * vector(2) - 1.0) < kIsZero; } vec3 rpyFromMatrix(const mat33 &rot) { vec3 rpy; - rpy(2) = std::atan2(-rot(1, 0), rot(0, 0)); - rpy(1) = std::atan2(rot(2, 0), std::cos(rpy(2)) * rot(0, 0) - std::sin(rpy(0)) * rot(1, 0)); - rpy(0) = std::atan2(-rot(2, 0), rot(2, 2)); + rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0)); + rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0)); + rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2)); return rpy; } } diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.hpp b/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.hpp index 63699712a..b355474d4 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.hpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/IDMath.hpp @@ -12,7 +12,8 @@ void setZero(vec3& v); void setZero(vecx& v); /// set all elements to zero void setZero(mat33& m); - +/// create a skew symmetric matrix from a vector (useful for cross product abstraction, e.g. v x a = V * a) +void skew(vec3& v, mat33* result); /// return maximum absolute value idScalar maxAbs(const vecx& v); #ifndef ID_LINEAR_MATH_USE_EIGEN diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/MultiBodyTree.cpp b/Engine/lib/bullet/src/BulletInverseDynamics/MultiBodyTree.cpp index 4235f138d..c67588d49 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/MultiBodyTree.cpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/MultiBodyTree.cpp @@ -226,10 +226,10 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ warning_message( "axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n", body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2)); - idScalar length = std::sqrt(std::pow(body_axis_of_motion(0), 2) + - std::pow(body_axis_of_motion(1), 2) + - std::pow(body_axis_of_motion(2), 2)); - if (length < std::sqrt(std::numeric_limits::min())) { + idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) + + BT_ID_POW(body_axis_of_motion(1), 2) + + BT_ID_POW(body_axis_of_motion(2), 2)); + if (length < BT_ID_SQRT(std::numeric_limits::min())) { error_message("axis of motion vector too short (%e)\n", length); return -1; } diff --git a/Engine/lib/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/Engine/lib/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp index 847e5c6c7..b35c55df6 100644 --- a/Engine/lib/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp +++ b/Engine/lib/bullet/src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp @@ -1013,7 +1013,7 @@ int MultiBodyTree::MultiBodyImpl::getBodyDotJacobianRotU(const int body_index, int MultiBodyTree::MultiBodyImpl::getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const{ CHECK_IF_BODY_INDEX_IS_VALID(body_index); const RigidBody &body = m_body_list[body_index]; - mul(body.m_body_T_world.transpose(), body.m_body_Jac_T,world_jac_trans); + mul(body.m_body_T_world.transpose(), body.m_body_Jac_T, world_jac_trans); return 0; } diff --git a/Engine/lib/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/Engine/lib/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp index e90d24e6e..9c2040307 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -100,9 +100,9 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) { btVector3 position = clothVertices[vertexIndex].m_x; - *(vertexPointer + 0) = position.getX(); - *(vertexPointer + 1) = position.getY(); - *(vertexPointer + 2) = position.getZ(); + *(vertexPointer + 0) = (float)position.getX(); + *(vertexPointer + 1) = (float)position.getY(); + *(vertexPointer + 2) = (float)position.getZ(); vertexPointer += vertexStride; } } @@ -115,9 +115,9 @@ void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *cons for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) { btVector3 normal = clothVertices[vertexIndex].m_n; - *(normalPointer + 0) = normal.getX(); - *(normalPointer + 1) = normal.getY(); - *(normalPointer + 2) = normal.getZ(); + *(normalPointer + 0) = (float)normal.getX(); + *(normalPointer + 1) = (float)normal.getY(); + *(normalPointer + 2) = (float)normal.getZ(); normalPointer += normalStride; } } diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp index d5de7c1b4..48efb0d8d 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp @@ -524,7 +524,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde } else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided) { - if (btSoftBody::eAeroModel::V_TwoSided) + if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided) nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); const btScalar dvn = btDot(rel_v,nrm); @@ -619,7 +619,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde } else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided) { - if (btSoftBody::eAeroModel::F_TwoSided) + if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided) nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); const btScalar dvn=btDot(rel_v,nrm); @@ -3003,6 +3003,7 @@ void btSoftBody::applyForces() // void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti) { + BT_PROFILE("PSolve_Anchors"); const btScalar kAHR=psb->m_cfg.kAHR*kst; const btScalar dt=psb->m_sst.sdt; for(int i=0,ni=psb->m_anchors.size();im_sst.sdt; const btScalar mrg = psb->getCollisionShape()->getMargin(); + btMultiBodyJacobianData jacobianData; for(int i=0,ni=psb->m_rcontacts.size();im_rcontacts[i]; @@ -3033,10 +3036,10 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) if (cti.m_colObj->hasContactResponse()) { btVector3 va(0,0,0); - btRigidBody* rigidCol; - btMultiBodyLinkCollider* multibodyLinkCol; + btRigidBody* rigidCol=0; + btMultiBodyLinkCollider* multibodyLinkCol=0; btScalar* deltaV; - btMultiBodyJacobianData jacobianData; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); @@ -3096,6 +3099,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) // void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti) { + BT_PROFILE("PSolve_SContacts"); + for(int i=0,ni=psb->m_scontacts.size();im_scontacts[i]; @@ -3129,6 +3134,7 @@ void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti) // void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti) { +BT_PROFILE("PSolve_Links"); for(int i=0,ni=psb->m_links.size();im_links[i]; @@ -3151,6 +3157,7 @@ void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti) // void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst) { + BT_PROFILE("VSolve_Links"); for(int i=0,ni=psb->m_links.size();im_links[i]; diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h index bd5846bfb..ada0dfd1a 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h @@ -232,15 +232,18 @@ public: int m_battach:1; // Attached }; /* Link */ - struct Link : Feature + ATTRIBUTE_ALIGNED16(struct) Link : Feature { + btVector3 m_c3; // gradient Node* m_n[2]; // Node pointers btScalar m_rl; // Rest length int m_bbending:1; // Bending link btScalar m_c0; // (ima+imb)*kLST btScalar m_c1; // rl^2 btScalar m_c2; // |gradient|^2/c0 - btVector3 m_c3; // gradient + + BT_DECLARE_ALIGNED_ALLOCATOR(); + }; /* Face */ struct Face : Feature @@ -614,7 +617,7 @@ public: RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt); void Process(const btDbvtNode* leaf); - static inline btScalar rayFromToTriangle(const btVector3& rayFrom, + static /*inline*/ btScalar rayFromToTriangle(const btVector3& rayFrom, const btVector3& rayTo, const btVector3& rayNormalizedDirection, const btVector3& a, diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp index 293a393e5..51fcd16da 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -123,8 +123,9 @@ static inline T average(const btAlignedObjectArray& items) return(sum(items)/n); } +#if 0 // -static inline btScalar tetravolume(const btVector3& x0, + inline static btScalar tetravolume(const btVector3& x0, const btVector3& x1, const btVector3& x2, const btVector3& x3) @@ -134,6 +135,7 @@ static inline btScalar tetravolume(const btVector3& x0, const btVector3 c=x3-x0; return(btDot(a,btCross(b,c))); } +#endif // #if 0 diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyInternals.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyInternals.h index 759509a1d..1ad82616e 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyInternals.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyInternals.h @@ -422,7 +422,7 @@ static inline btVector3 BaryCoord( const btVector3& a, } // -static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, +inline static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, const btVector3& a, const btVector3& b, const btScalar accuracy, @@ -451,6 +451,25 @@ static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, return(-1); } +inline static void EvaluateMedium( const btSoftBodyWorldInfo* wfi, + const btVector3& x, + btSoftBody::sMedium& medium) +{ + medium.m_velocity = btVector3(0,0,0); + medium.m_pressure = 0; + medium.m_density = wfi->air_density; + if(wfi->water_density>0) + { + const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset); + if(depth>0) + { + medium.m_density = wfi->water_density; + medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length(); + } + } +} + + // static inline btVector3 NormalizeAny(const btVector3& v) { @@ -504,23 +523,7 @@ static inline btScalar VolumeOf( const btVector3& x0, } // -static void EvaluateMedium( const btSoftBodyWorldInfo* wfi, - const btVector3& x, - btSoftBody::sMedium& medium) -{ - medium.m_velocity = btVector3(0,0,0); - medium.m_pressure = 0; - medium.m_density = wfi->air_density; - if(wfi->water_density>0) - { - const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset); - if(depth>0) - { - medium.m_density = wfi->water_density; - medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length(); - } - } -} + // static inline void ApplyClampedForce( btSoftBody::Node& n, diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp index ffa243ebf..4e76dca9d 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp @@ -125,7 +125,7 @@ void btSoftMultiBodyDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep } -void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body,short int collisionFilterGroup,short int collisionFilterMask) +void btSoftMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { m_softBodies.push_back(body); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h index 2d0423a44..6d46a21db 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h @@ -20,7 +20,9 @@ subject to the following restrictions: #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletSoftBody/btSoftBody.h" +#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H typedef btAlignedObjectArray btSoftBodyArray; +#endif class btSoftBodySolver; @@ -55,7 +57,7 @@ public: virtual void debugDrawWorld(); - void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter); void removeSoftBody(btSoftBody* body); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h index a9b513e36..93fcc6065 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h @@ -31,8 +31,8 @@ class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm // bool m_ownManifold; // btPersistentManifold* m_manifoldPtr; - btSoftBody* m_softBody; - btCollisionObject* m_rigidCollisionObject; + //btSoftBody* m_softBody; + //btCollisionObject* m_rigidCollisionObject; ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean bool m_isSwapped; diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp index 653d5a06b..204b4f576 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp @@ -125,7 +125,7 @@ void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep ) } -void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body,short int collisionFilterGroup,short int collisionFilterMask) +void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) { m_softBodies.push_back(body); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.h index 3e0efafd6..d921a6488 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftRigidDynamicsWorld.h @@ -54,7 +54,7 @@ public: virtual void debugDrawWorld(); - void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + void addSoftBody(btSoftBody* body, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter); void removeSoftBody(btSoftBody* body); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h index 43b1439cc..4eab7aea2 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h @@ -30,8 +30,8 @@ class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm bool m_ownManifold; btPersistentManifold* m_manifoldPtr; - btSoftBody* m_softBody0; - btSoftBody* m_softBody1; +// btSoftBody* m_softBody0; +// btSoftBody* m_softBody1; public: diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h b/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h index bcf0c7982..ba437c28e 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h @@ -185,7 +185,7 @@ struct btSparseSdf { ++nprobes; ++ncells; - int sz = sizeof(Cell); + //int sz = sizeof(Cell); if (ncells>m_clampCells) { static int numResets=0; diff --git a/Engine/lib/bullet/src/CMakeLists.txt b/Engine/lib/bullet/src/CMakeLists.txt index bbeabafbb..c30125c53 100644 --- a/Engine/lib/bullet/src/CMakeLists.txt +++ b/Engine/lib/bullet/src/CMakeLists.txt @@ -1,10 +1,10 @@ IF(BUILD_BULLET3) - SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry Bullet3Common ) - SUBDIRS( BulletInverseDynamics ) + SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry ) ENDIF(BUILD_BULLET3) -SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath ) + +SUBDIRS( BulletInverseDynamics BulletSoftBody BulletCollision BulletDynamics LinearMath Bullet3Common) IF(INSTALL_LIBS) diff --git a/Engine/lib/bullet/src/LinearMath/CMakeLists.txt b/Engine/lib/bullet/src/LinearMath/CMakeLists.txt index 9c1980442..ede21d9a7 100644 --- a/Engine/lib/bullet/src/LinearMath/CMakeLists.txt +++ b/Engine/lib/bullet/src/LinearMath/CMakeLists.txt @@ -11,6 +11,7 @@ SET(LinearMath_SRCS btPolarDecomposition.cpp btQuickprof.cpp btSerializer.cpp + btSerializer64.cpp btThreads.cpp btVector3.cpp ) diff --git a/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h b/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h index 146ae72e8..f0b646529 100644 --- a/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h +++ b/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h @@ -475,16 +475,37 @@ protected: } return index; } + + // If the key is not in the array, return -1 instead of 0, + // since 0 also means the first element in the array. + int findLinearSearch2(const T& key) const + { + int index=-1; + int i; + + for (i=0;iedges = NULL; + v->next = v; + v->prev = v; + + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + } + + return; } - // lint -fallthrough + case 1: { Vertex* v = originalVertices[start]; diff --git a/Engine/lib/bullet/src/LinearMath/btHashMap.h b/Engine/lib/bullet/src/LinearMath/btHashMap.h index ca6f326b4..5e9cdb605 100644 --- a/Engine/lib/bullet/src/LinearMath/btHashMap.h +++ b/Engine/lib/bullet/src/LinearMath/btHashMap.h @@ -52,7 +52,7 @@ struct btHashString { int ret = 0 ; - while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst) + while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst) ++src, ++dst; if ( ret < 0 ) @@ -79,6 +79,11 @@ class btHashInt { int m_uid; public: + + btHashInt() + { + } + btHashInt(int uid) :m_uid(uid) { } @@ -100,9 +105,10 @@ public: //to our success SIMD_FORCE_INLINE unsigned int getHash()const { - int key = m_uid; + unsigned int key = m_uid; // Thomas Wang's hash key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; } }; @@ -115,7 +121,7 @@ class btHashPtr union { const void* m_pointer; - int m_hashValues[2]; + unsigned int m_hashValues[2]; }; public: @@ -140,8 +146,7 @@ public: { const bool VOID_IS_8 = ((sizeof(void*)==8)); - int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0]; - + unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0]; // Thomas Wang's hash key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); return key; @@ -174,7 +179,7 @@ public: //to our success SIMD_FORCE_INLINE unsigned int getHash()const { - int key = m_uid; + unsigned int key = m_uid; // Thomas Wang's hash key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); return key; @@ -206,7 +211,7 @@ public: //to our success SIMD_FORCE_INLINE unsigned int getHash()const { - int key = m_uid; + unsigned int key = m_uid; // Thomas Wang's hash key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); return key; @@ -384,28 +389,38 @@ protected: const Value* getAtIndex(int index) const { btAssert(index < m_valueArray.size()); - - return &m_valueArray[index]; + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; } Value* getAtIndex(int index) { btAssert(index < m_valueArray.size()); - - return &m_valueArray[index]; + btAssert(index>=0); + if (index>=0 && index < m_valueArray.size()) + { + return &m_valueArray[index]; + } + return 0; } Key getKeyAtIndex(int index) { btAssert(index < m_keyArray.size()); - return m_keyArray[index]; + btAssert(index>=0); + return m_keyArray[index]; } const Key getKeyAtIndex(int index) const { btAssert(index < m_keyArray.size()); - return m_keyArray[index]; - } + btAssert(index>=0); + return m_keyArray[index]; + } Value* operator[](const Key& key) { diff --git a/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h b/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h index a020c3f4e..936aaa896 100644 --- a/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h +++ b/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h @@ -469,6 +469,10 @@ class btIDebugDraw drawLine(transform*pt2,transform*pt3,color); } + virtual void clearLines() + { + } + virtual void flushLines() { } diff --git a/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h b/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h index 40cd1e086..9f642a177 100644 --- a/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h +++ b/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h @@ -647,92 +647,49 @@ public: return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z(); } + ///extractRotation is from "A robust method to extract the rotational part of deformations" + ///See http://dl.acm.org/citation.cfm?doid=2994258.2994269 + SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100) + { + int iter =0; + btScalar w; + const btMatrix3x3& A=*this; + for(iter = 0; iter < maxIter; iter++) + { + btMatrix3x3 R(q); + btVector3 omega = (R.getColumn(0).cross(A.getColumn(0)) + R.getColumn(1).cross(A.getColumn(1)) + + R.getColumn(2).cross(A.getColumn(2)) + ) * (btScalar(1.0) / btFabs(R.getColumn(0).dot(A.getColumn(0)) + R.getColumn + (1).dot(A.getColumn(1)) + R.getColumn(2).dot(A.getColumn(2))) + + tolerance); + w = omega.norm(); + if(w < tolerance) + break; + q = btQuaternion(btVector3((btScalar(1.0) / w) * omega),w) * + q; + q.normalize(); + } + } - /**@brief diagonalizes this matrix by the Jacobi method. + + + /**@brief diagonalizes this matrix * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original * coordinate system, i.e., old_this = rot * new_this * rot^T. * @param threshold See iteration - * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied - * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. - * - * Note that this matrix is assumed to be symmetric. + * @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. */ - void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) + void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100) { - rot.setIdentity(); - for (int step = maxSteps; step > 0; step--) - { - // find off-diagonal element [p][q] with largest magnitude - int p = 0; - int q = 1; - int r = 2; - btScalar max = btFabs(m_el[0][1]); - btScalar v = btFabs(m_el[0][2]); - if (v > max) - { - q = 2; - r = 1; - max = v; - } - v = btFabs(m_el[1][2]); - if (v > max) - { - p = 1; - q = 2; - r = 0; - max = v; - } - - btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); - if (max <= t) - { - if (max <= SIMD_EPSILON * t) - { - return; - } - step = 1; - } - - // compute Jacobi rotation J which leads to a zero for element [p][q] - btScalar mpq = m_el[p][q]; - btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); - btScalar theta2 = theta * theta; - btScalar cos; - btScalar sin; - if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) - { - t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) - : 1 / (theta - btSqrt(1 + theta2)); - cos = 1 / btSqrt(1 + t * t); - sin = cos * t; - } - else - { - // approximation for large theta-value, i.e., a nearly diagonal matrix - t = 1 / (theta * (2 + btScalar(0.5) / theta2)); - cos = 1 - btScalar(0.5) * t * t; - sin = cos * t; - } - - // apply rotation to matrix (this = J^T * this * J) - m_el[p][q] = m_el[q][p] = 0; - m_el[p][p] -= t * mpq; - m_el[q][q] += t * mpq; - btScalar mrp = m_el[r][p]; - btScalar mrq = m_el[r][q]; - m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; - m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; - - // apply rotation to rot (rot = rot * J) - for (int i = 0; i < 3; i++) - { - btVector3& row = rot[i]; - mrp = row[p]; - mrq = row[q]; - row[p] = cos * mrp - sin * mrq; - row[q] = cos * mrq + sin * mrp; - } - } + btQuaternion r; + r = btQuaternion::getIdentity(); + extractRotation(r,tolerance,maxIter); + rot.setRotation(r); + btMatrix3x3 rotInv = btMatrix3x3(r.inverse()); + btMatrix3x3 old = *this; + setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]), + old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]), + old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2])); } diff --git a/Engine/lib/bullet/src/LinearMath/btQuaternion.h b/Engine/lib/bullet/src/LinearMath/btQuaternion.h index 32f0f85d2..7bd39e6a3 100644 --- a/Engine/lib/bullet/src/LinearMath/btQuaternion.h +++ b/Engine/lib/bullet/src/LinearMath/btQuaternion.h @@ -141,11 +141,11 @@ public: * @param yaw Angle around Z * @param pitch Angle around Y * @param roll Angle around X */ - void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + void setEulerZYX(const btScalar& yawZ, const btScalar& pitchY, const btScalar& rollX) { - btScalar halfYaw = btScalar(yaw) * btScalar(0.5); - btScalar halfPitch = btScalar(pitch) * btScalar(0.5); - btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar halfYaw = btScalar(yawZ) * btScalar(0.5); + btScalar halfPitch = btScalar(pitchY) * btScalar(0.5); + btScalar halfRoll = btScalar(rollX) * btScalar(0.5); btScalar cosYaw = btCos(halfYaw); btScalar sinYaw = btSin(halfYaw); btScalar cosPitch = btCos(halfPitch); @@ -157,6 +157,28 @@ public: cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx } + + /**@brief Get the euler angles from this quaternion + * @param yaw Angle around Z + * @param pitch Angle around Y + * @param roll Angle around X */ + void getEulerZYX(btScalar& yawZ, btScalar& pitchY, btScalar& rollX) const + { + btScalar squ; + btScalar sqx; + btScalar sqy; + btScalar sqz; + btScalar sarg; + sqx = m_floats[0] * m_floats[0]; + sqy = m_floats[1] * m_floats[1]; + sqz = m_floats[2] * m_floats[2]; + squ = m_floats[3] * m_floats[3]; + rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); + sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); + pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg)); + yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + } + /**@brief Add two quaternions * @param q The quaternion to add to this one */ SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q) @@ -333,7 +355,15 @@ public: { return btSqrt(length2()); } - + btQuaternion& safeNormalize() + { + btScalar l2 = length2(); + if (l2>SIMD_EPSILON) + { + normalize(); + } + return *this; + } /**@brief Normalize the quaternion * Such that x^2 + y^2 + z^2 +w^2 = 1 */ btQuaternion& normalize() diff --git a/Engine/lib/bullet/src/LinearMath/btQuickprof.cpp b/Engine/lib/bullet/src/LinearMath/btQuickprof.cpp index f587770e8..aed3104a6 100644 --- a/Engine/lib/bullet/src/LinearMath/btQuickprof.cpp +++ b/Engine/lib/bullet/src/LinearMath/btQuickprof.cpp @@ -14,11 +14,9 @@ // Ogre (www.ogre3d.org). #include "btQuickprof.h" - - -#if BT_THREADSAFE #include "btThreads.h" -#endif //#if BT_THREADSAFE + + #ifdef __CELLOS_LV2__ @@ -30,6 +28,10 @@ #if defined (SUNOS) || defined (__SUNOS__) #include #endif +#ifdef __APPLE__ +#include +#include +#endif #if defined(WIN32) || defined(_WIN32) @@ -55,6 +57,12 @@ #else //_WIN32 #include + +#ifdef BT_LINUX_REALTIME +//required linking against rt (librt) +#include +#endif //BT_LINUX_REALTIME + #endif //_WIN32 #define mymin(a,b) (a > b ? a : b) @@ -65,12 +73,14 @@ struct btClockData #ifdef BT_USE_WINDOWS_TIMERS LARGE_INTEGER mClockFrequency; LONGLONG mStartTick; - LONGLONG mPrevElapsedTime; LARGE_INTEGER mStartTime; #else #ifdef __CELLOS_LV2__ uint64_t mStartTime; #else +#ifdef __APPLE__ + uint64_t mStartTimeNano; +#endif struct timeval mStartTime; #endif #endif //__CELLOS_LV2__ @@ -111,7 +121,6 @@ void btClock::reset() #ifdef BT_USE_WINDOWS_TIMERS QueryPerformanceCounter(&m_data->mStartTime); m_data->mStartTick = GetTickCount64(); - m_data->mPrevElapsedTime = 0; #else #ifdef __CELLOS_LV2__ @@ -121,6 +130,9 @@ void btClock::reset() SYS_TIMEBASE_GET( newTime ); m_data->mStartTime = newTime; #else +#ifdef __APPLE__ + m_data->mStartTimeNano = mach_absolute_time(); +#endif gettimeofday(&m_data->mStartTime, 0); #endif #endif @@ -128,7 +140,7 @@ void btClock::reset() /// Returns the time in ms since the last call to reset or since /// the btClock was created. -unsigned long int btClock::getTimeMilliseconds() +unsigned long long int btClock::getTimeMilliseconds() { #ifdef BT_USE_WINDOWS_TIMERS LARGE_INTEGER currentTime; @@ -138,27 +150,6 @@ unsigned long int btClock::getTimeMilliseconds() // Compute the number of millisecond ticks elapsed. unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / m_data->mClockFrequency.QuadPart); - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA - // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick); - signed long msecOff = (signed long)(msecTicks - elapsedTicks); - if (msecOff < -100 || msecOff > 100) - { - // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - m_data->mClockFrequency.QuadPart / 1000, elapsedTime - - m_data->mPrevElapsedTime); - m_data->mStartTime.QuadPart += msecAdjustment; - elapsedTime -= msecAdjustment; - - // Recompute the number of millisecond ticks elapsed. - msecTicks = (unsigned long)(1000 * elapsedTime / - m_data->mClockFrequency.QuadPart); - } - - // Store the current elapsed time for adjustments next time. - m_data->mPrevElapsedTime = elapsedTime; return msecTicks; #else @@ -184,41 +175,19 @@ unsigned long int btClock::getTimeMilliseconds() /// Returns the time in us since the last call to reset or since /// the Clock was created. -unsigned long int btClock::getTimeMicroseconds() +unsigned long long int btClock::getTimeMicroseconds() { #ifdef BT_USE_WINDOWS_TIMERS - LARGE_INTEGER currentTime; + //see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx + LARGE_INTEGER currentTime, elapsedTime; + QueryPerformanceCounter(¤tTime); - LONGLONG elapsedTime = currentTime.QuadPart - + elapsedTime.QuadPart = currentTime.QuadPart - m_data->mStartTime.QuadPart; + elapsedTime.QuadPart *= 1000000; + elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart; - // Compute the number of millisecond ticks elapsed. - unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / - m_data->mClockFrequency.QuadPart); - - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA - // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick); - signed long msecOff = (signed long)(msecTicks - elapsedTicks); - if (msecOff < -100 || msecOff > 100) - { - // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - m_data->mClockFrequency.QuadPart / 1000, elapsedTime - - m_data->mPrevElapsedTime); - m_data->mStartTime.QuadPart += msecAdjustment; - elapsedTime -= msecAdjustment; - } - - // Store the current elapsed time for adjustments next time. - m_data->mPrevElapsedTime = elapsedTime; - - // Convert to microseconds. - unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / - m_data->mClockFrequency.QuadPart); - - return usecTicks; + return (unsigned long long) elapsedTime.QuadPart; #else #ifdef __CELLOS_LV2__ @@ -240,6 +209,66 @@ unsigned long int btClock::getTimeMicroseconds() #endif } +unsigned long long int btClock::getTimeNanoseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + //see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx + LARGE_INTEGER currentTime, elapsedTime; + + QueryPerformanceCounter(¤tTime); + elapsedTime.QuadPart = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + elapsedTime.QuadPart *= 1000000000; + elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart; + + return (unsigned long long) elapsedTime.QuadPart; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq)/ 1e9; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else +#ifdef __APPLE__ + uint64_t ticks = mach_absolute_time() - m_data->mStartTimeNano; + static long double conversion = 0.0L; + if( 0.0L == conversion ) + { + // attempt to get conversion to nanoseconds + mach_timebase_info_data_t info; + int err = mach_timebase_info( &info ); + if( err ) + { + btAssert(0); + conversion = 1.; + } + conversion = info.numer / info.denom; + } + return (ticks * conversion); + + +#else//__APPLE__ + +#ifdef BT_LINUX_REALTIME + timespec ts; + clock_gettime(CLOCK_REALTIME,&ts); + return 1000000000*ts.tv_sec + ts.tv_nsec; +#else + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec)*1000; +#endif //BT_LINUX_REALTIME + +#endif//__APPLE__ +#endif//__CELLOS_LV2__ +#endif +} /// Returns the time in s since the last call to reset or since @@ -258,7 +287,7 @@ static btClock gProfileClock; inline void Profile_Get_Ticks(unsigned long int * ticks) { - *ticks = gProfileClock.getTimeMicroseconds(); + *ticks = (unsigned long int)gProfileClock.getTimeMicroseconds(); } inline float Profile_Get_Tick_Rate(void) @@ -370,6 +399,7 @@ bool CProfileNode::Return( void ) if ( --RecursionCounter == 0 && TotalCalls != 0 ) { unsigned long int time; Profile_Get_Ticks(&time); + time-=StartTime; TotalTime += (float)time / Profile_Get_Tick_Rate(); } @@ -437,11 +467,71 @@ void CProfileIterator::Enter_Parent( void ) ** ***************************************************************************************************/ -CProfileNode CProfileManager::Root( "Root", NULL ); -CProfileNode * CProfileManager::CurrentNode = &CProfileManager::Root; + + + +CProfileNode gRoots[BT_QUICKPROF_MAX_THREAD_COUNT]={ + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL), + CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL) +}; + + +CProfileNode* gCurrentNodes[BT_QUICKPROF_MAX_THREAD_COUNT]= +{ + &gRoots[ 0], &gRoots[ 1], &gRoots[ 2], &gRoots[ 3], + &gRoots[ 4], &gRoots[ 5], &gRoots[ 6], &gRoots[ 7], + &gRoots[ 8], &gRoots[ 9], &gRoots[10], &gRoots[11], + &gRoots[12], &gRoots[13], &gRoots[14], &gRoots[15], + &gRoots[16], &gRoots[17], &gRoots[18], &gRoots[19], + &gRoots[20], &gRoots[21], &gRoots[22], &gRoots[23], + &gRoots[24], &gRoots[25], &gRoots[26], &gRoots[27], + &gRoots[28], &gRoots[29], &gRoots[30], &gRoots[31], + &gRoots[32], &gRoots[33], &gRoots[34], &gRoots[35], + &gRoots[36], &gRoots[37], &gRoots[38], &gRoots[39], + &gRoots[40], &gRoots[41], &gRoots[42], &gRoots[43], + &gRoots[44], &gRoots[45], &gRoots[46], &gRoots[47], + &gRoots[48], &gRoots[49], &gRoots[50], &gRoots[51], + &gRoots[52], &gRoots[53], &gRoots[54], &gRoots[55], + &gRoots[56], &gRoots[57], &gRoots[58], &gRoots[59], + &gRoots[60], &gRoots[61], &gRoots[62], &gRoots[63], +}; + + int CProfileManager::FrameCounter = 0; unsigned long int CProfileManager::ResetTime = 0; +CProfileIterator * CProfileManager::Get_Iterator( void ) +{ + + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return 0; + + return new CProfileIterator( &gRoots[threadIndex]); +} + +void CProfileManager::CleanupMemory(void) +{ + for (int i=0;iGet_Name()) { - CurrentNode = CurrentNode->Get_Sub_Node( name ); + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + + if (name != gCurrentNodes[threadIndex]->Get_Name()) { + gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name ); } - CurrentNode->Call(); + gCurrentNodes[threadIndex]->Call(); } @@ -479,22 +565,22 @@ void CProfileManager::Start_Profile( const char * name ) *=============================================================================================*/ void CProfileManager::Stop_Profile( void ) { -#if BT_THREADSAFE - // profile system is not designed for profiling multiple threads - // disable collection on all but the main thread - if ( !btIsMainThread() ) - { - return; - } -#endif //#if BT_THREADSAFE + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + // Return will indicate whether we should back up to our parent (we may // be profiling a recursive function) - if (CurrentNode->Return()) { - CurrentNode = CurrentNode->Get_Parent(); + if (gCurrentNodes[threadIndex]->Return()) { + gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent(); } } + + + + /*********************************************************************************************** * CProfileManager::Reset -- Reset the contents of the profiling system * * * @@ -503,8 +589,11 @@ void CProfileManager::Stop_Profile( void ) void CProfileManager::Reset( void ) { gProfileClock.reset(); - Root.Reset(); - Root.Call(); + int threadIndex = btQuickprofGetCurrentThreadIndex2(); + if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT) + return; + gRoots[threadIndex].Reset(); + gRoots[threadIndex].Call(); FrameCounter = 0; Profile_Get_Ticks(&ResetTime); } @@ -594,4 +683,107 @@ void CProfileManager::dumpAll() +unsigned int btQuickprofGetCurrentThreadIndex2() +{ +#if BT_THREADSAFE + return btGetCurrentThreadIndex(); +#else // #if BT_THREADSAFE + const unsigned int kNullIndex = ~0U; +#ifdef _WIN32 + #if defined(__MINGW32__) || defined(__MINGW64__) + static __thread unsigned int sThreadIndex = kNullIndex; + #else + __declspec( thread ) static unsigned int sThreadIndex = kNullIndex; + #endif +#else +#ifdef __APPLE__ + #if TARGET_OS_IPHONE + unsigned int sThreadIndex = 0; + return -1; + #else + static __thread unsigned int sThreadIndex = kNullIndex; + #endif +#else//__APPLE__ +#if __linux__ + static __thread unsigned int sThreadIndex = kNullIndex; +#else + unsigned int sThreadIndex = 0; + return -1; +#endif +#endif//__APPLE__ + +#endif + static int gThreadCounter=0; + + if ( sThreadIndex == kNullIndex ) + { + sThreadIndex = gThreadCounter++; + } + return sThreadIndex; +#endif // #else // #if BT_THREADSAFE +} + +void btEnterProfileZoneDefault(const char* name) +{ + CProfileManager::Start_Profile( name ); +} +void btLeaveProfileZoneDefault() +{ + CProfileManager::Stop_Profile(); +} + + +#else +void btEnterProfileZoneDefault(const char* name) +{ +} +void btLeaveProfileZoneDefault() +{ +} #endif //BT_NO_PROFILE + + + + + +static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault; +static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault; + +void btEnterProfileZone(const char* name) +{ + (bts_enterFunc)(name); +} +void btLeaveProfileZone() +{ + (bts_leaveFunc)(); +} + +btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc() +{ + return bts_enterFunc ; +} +btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc() +{ + return bts_leaveFunc; +} + + +void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc) +{ + bts_enterFunc = enterFunc; +} +void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc) +{ + bts_leaveFunc = leaveFunc; +} + +CProfileSample::CProfileSample( const char * name ) +{ + btEnterProfileZone(name); +} + +CProfileSample::~CProfileSample( void ) +{ + btLeaveProfileZone(); +} + diff --git a/Engine/lib/bullet/src/LinearMath/btQuickprof.h b/Engine/lib/bullet/src/LinearMath/btQuickprof.h index 49545713b..7b38d71b9 100644 --- a/Engine/lib/bullet/src/LinearMath/btQuickprof.h +++ b/Engine/lib/bullet/src/LinearMath/btQuickprof.h @@ -36,12 +36,14 @@ public: /// Returns the time in ms since the last call to reset or since /// the btClock was created. - unsigned long int getTimeMilliseconds(); + unsigned long long int getTimeMilliseconds(); /// Returns the time in us since the last call to reset or since /// the Clock was created. - unsigned long int getTimeMicroseconds(); + unsigned long long int getTimeMicroseconds(); + unsigned long long int getTimeNanoseconds(); + /// Returns the time in s since the last call to reset or since /// the Clock was created. btScalar getTimeSeconds(); @@ -52,10 +54,28 @@ private: #endif //USE_BT_CLOCK +typedef void (btEnterProfileZoneFunc)(const char* msg); +typedef void (btLeaveProfileZoneFunc)(); +btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc(); +btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc(); + + + +void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc); +void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc); + +#ifndef BT_NO_PROFILE // FIX redefinition //To disable built-in profiling, please comment out next line -#define BT_NO_PROFILE 1 +//#define BT_NO_PROFILE 1 +#endif //BT_NO_PROFILE + #ifndef BT_NO_PROFILE +//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, +//otherwise returns thread index in range [0..maxThreads] +unsigned int btQuickprofGetCurrentThreadIndex2(); +const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; + #include //@todo remove this, backwards compatibility #include "btAlignedAllocator.h" @@ -151,21 +171,21 @@ public: static void Start_Profile( const char * name ); static void Stop_Profile( void ); - static void CleanupMemory(void) - { - Root.CleanupMemory(); - } + static void CleanupMemory(void); +// { +// Root.CleanupMemory(); +// } static void Reset( void ); static void Increment_Frame_Counter( void ); static int Get_Frame_Count_Since_Reset( void ) { return FrameCounter; } static float Get_Time_Since_Reset( void ); - static CProfileIterator * Get_Iterator( void ) - { - - return new CProfileIterator( &Root ); - } + static CProfileIterator * Get_Iterator( void ); +// { +// +// return new CProfileIterator( &Root ); +// } static void Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); } static void dumpRecursive(CProfileIterator* profileIterator, int spacing); @@ -173,37 +193,27 @@ public: static void dumpAll(); private: - static CProfileNode Root; - static CProfileNode * CurrentNode; + static int FrameCounter; static unsigned long int ResetTime; }; + + +#endif //#ifndef BT_NO_PROFILE + ///ProfileSampleClass is a simple way to profile a function's scope ///Use the BT_PROFILE macro at the start of scope to time class CProfileSample { public: - CProfileSample( const char * name ) - { - CProfileManager::Start_Profile( name ); - } + CProfileSample( const char * name ); - ~CProfileSample( void ) - { - CProfileManager::Stop_Profile(); - } + ~CProfileSample( void ); }; - #define BT_PROFILE( name ) CProfileSample __profile( name ) -#else - -#define BT_PROFILE( name ) - -#endif //#ifndef BT_NO_PROFILE - #endif //BT_QUICK_PROF_H diff --git a/Engine/lib/bullet/src/LinearMath/btScalar.h b/Engine/lib/bullet/src/LinearMath/btScalar.h index df907e128..bffb2ce27 100644 --- a/Engine/lib/bullet/src/LinearMath/btScalar.h +++ b/Engine/lib/bullet/src/LinearMath/btScalar.h @@ -12,59 +12,76 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - - #ifndef BT_SCALAR_H #define BT_SCALAR_H - #ifdef BT_MANAGED_CODE //Aligned data types not supported in managed code #pragma unmanaged #endif - #include -#include //size_t for MSVC 6.0 +#include //size_t for MSVC 6.0 #include /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 285 +#define BT_BULLET_VERSION 287 -inline int btGetVersion() +inline int btGetVersion() { return BT_BULLET_VERSION; } -#if defined(DEBUG) || defined (_DEBUG) -#define BT_DEBUG + +// The following macro "BT_NOT_EMPTY_FILE" can be put into a file +// in order suppress the MS Visual C++ Linker warning 4221 +// +// warning LNK4221: no public symbols found; archive member will be inaccessible +// +// This warning occurs on PC and XBOX when a file compiles out completely +// has no externally visible symbols which may be dependant on configuration +// #defines and options. +// +// see more https://stackoverflow.com/questions/1822887/what-is-the-best-way-to-eliminate-ms-visual-c-linker-warning-warning-lnk422 + +#if defined (_MSC_VER) + #define BT_NOT_EMPTY_FILE_CAT_II(p, res) res + #define BT_NOT_EMPTY_FILE_CAT_I(a, b) BT_NOT_EMPTY_FILE_CAT_II(~, a ## b) + #define BT_NOT_EMPTY_FILE_CAT(a, b) BT_NOT_EMPTY_FILE_CAT_I(a, b) + #define BT_NOT_EMPTY_FILE namespace { char BT_NOT_EMPTY_FILE_CAT(NoEmptyFileDummy, __COUNTER__); } +#else + #define BT_NOT_EMPTY_FILE #endif +// clang and most formatting tools don't support indentation of preprocessor guards, so turn it off +// clang-format off +#if defined(DEBUG) || defined (_DEBUG) + #define BT_DEBUG +#endif + #ifdef _WIN32 - - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) - - #define SIMD_FORCE_INLINE inline - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #elif (_M_ARM) - #define SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec() a - #define ATTRIBUTE_ALIGNED64(a) __declspec() a - #define ATTRIBUTE_ALIGNED128(a) __declspec () a - #else - //#define BT_HAS_ALIGNED_ALLOCATOR - #pragma warning(disable : 4324) // disable padding warning + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #define SIMD_FORCE_INLINE inline + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #elif defined(_M_ARM) + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec() a + #define ATTRIBUTE_ALIGNED64(a) __declspec() a + #define ATTRIBUTE_ALIGNED128(a) __declspec () a + #else//__MINGW32__ + //#define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning // #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. - #pragma warning(disable:4996) //Turn off warnings about deprecated C routines + #pragma warning(disable:4996) //Turn off warnings about deprecated C routines // #pragma warning(disable:4786) // Disable the "debug name too long" warning - #define SIMD_FORCE_INLINE __forceinline - #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a - #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a - #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a #ifdef _XBOX #define BT_USE_VMX128 @@ -100,28 +117,28 @@ inline int btGetVersion() #endif//_XBOX - #endif //__MINGW32__ + #endif //__MINGW32__ -#ifdef BT_DEBUG - #ifdef _MSC_VER - #include - #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} - #else//_MSC_VER - #include - #define btAssert assert - #endif//_MSC_VER -#else + #ifdef BT_DEBUG + #ifdef _MSC_VER + #include + #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} + #else//_MSC_VER + #include + #define btAssert assert + #endif//_MSC_VER + #else #define btAssert(x) -#endif + #endif //btFullAssert is optional, slows down a lot #define btFullAssert(x) #define btLikely(_c) _c #define btUnlikely(_c) _c -#else +#else//_WIN32 -#if defined (__CELLOS_LV2__) + #if defined (__CELLOS_LV2__) #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) @@ -129,217 +146,249 @@ inline int btGetVersion() #ifndef assert #include #endif -#ifdef BT_DEBUG -#ifdef __SPU__ -#include -#define printf spu_printf - #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} -#else - #define btAssert assert -#endif + #ifdef BT_DEBUG + #ifdef __SPU__ + #include + #define printf spu_printf + #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} + #else + #define btAssert assert + #endif -#else - #define btAssert(x) -#endif + #else//BT_DEBUG + #define btAssert(x) + #endif//BT_DEBUG //btFullAssert is optional, slows down a lot #define btFullAssert(x) #define btLikely(_c) _c #define btUnlikely(_c) _c -#else + #else//defined (__CELLOS_LV2__) -#ifdef USE_LIBSPE2 + #ifdef USE_LIBSPE2 - #define SIMD_FORCE_INLINE __inline - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include - #endif -#ifdef BT_DEBUG - #define btAssert assert -#else - #define btAssert(x) -#endif - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif + #ifdef BT_DEBUG + #define btAssert assert + #else + #define btAssert(x) + #endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) - #define btLikely(_c) __builtin_expect((_c), 1) - #define btUnlikely(_c) __builtin_expect((_c), 0) + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) -#else + #else//USE_LIBSPE2 //non-windows systems -#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) - #if defined (__i386__) || defined (__x86_64__) - #define BT_USE_SIMD_VECTOR3 - #define BT_USE_SSE - //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries - //if apps run into issues, we will disable the next line - #define BT_USE_SSE_IN_API - #ifdef BT_USE_SSE - // include appropriate SSE level - #if defined (__SSE4_1__) - #include - #elif defined (__SSSE3__) - #include - #elif defined (__SSE3__) - #include - #else - #include - #endif - #endif //BT_USE_SSE - #elif defined( __ARM_NEON__ ) - #ifdef __clang__ - #define BT_USE_NEON 1 - #define BT_USE_SIMD_VECTOR3 + #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #if defined (__i386__) || defined (__x86_64__) + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE + //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries + //if apps run into issues, we will disable the next line + #define BT_USE_SSE_IN_API + #ifdef BT_USE_SSE + // include appropriate SSE level + #if defined (__SSE4_1__) + #include + #elif defined (__SSSE3__) + #include + #elif defined (__SSE3__) + #include + #else + #include + #endif + #endif //BT_USE_SSE + #elif defined( __ARM_NEON__ ) + #ifdef __clang__ + #define BT_USE_NEON 1 + #define BT_USE_SIMD_VECTOR3 - #if defined BT_USE_NEON && defined (__clang__) - #include - #endif//BT_USE_NEON - #endif //__clang__ - #endif//__arm__ + #if defined BT_USE_NEON && defined (__clang__) + #include + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ - #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) -///@todo: check out alignment methods for other platforms/compilers - #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #ifndef assert - #include - #endif + #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) + ///@todo: check out alignment methods for other platforms/compilers + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif - #if defined(DEBUG) || defined (_DEBUG) - #if defined (__i386__) || defined (__x86_64__) - #include - #define btAssert(x)\ - {\ - if(!(x))\ - {\ - printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ - asm volatile ("int3");\ - }\ - } - #else//defined (__i386__) || defined (__x86_64__) - #define btAssert assert - #endif//defined (__i386__) || defined (__x86_64__) - #else//defined(DEBUG) || defined (_DEBUG) - #define btAssert(x) - #endif//defined(DEBUG) || defined (_DEBUG) + #if defined(DEBUG) || defined (_DEBUG) + #if defined (__i386__) || defined (__x86_64__) + #include + #define btAssert(x)\ + {\ + if(!(x))\ + {\ + printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ + asm volatile ("int3");\ + }\ + } + #else//defined (__i386__) || defined (__x86_64__) + #define btAssert assert + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) + #define btAssert(x) + #endif//defined(DEBUG) || defined (_DEBUG) - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c -#else + #else//__APPLE__ - #define SIMD_FORCE_INLINE inline - ///@todo: check out alignment methods for other platforms/compilers - ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) - ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) - ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) - #define ATTRIBUTE_ALIGNED16(a) a - #define ATTRIBUTE_ALIGNED64(a) a - #define ATTRIBUTE_ALIGNED128(a) a - #ifndef assert - #include - #endif + #define SIMD_FORCE_INLINE inline + ///@todo: check out alignment methods for other platforms/compilers + ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #ifndef assert + #include + #endif -#if defined(DEBUG) || defined (_DEBUG) - #define btAssert assert -#else - #define btAssert(x) -#endif + #if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert + #else + #define btAssert(x) + #endif - //btFullAssert is optional, slows down a lot - #define btFullAssert(x) - #define btLikely(_c) _c - #define btUnlikely(_c) _c -#endif //__APPLE__ - -#endif // LIBSPE2 - -#endif //__CELLOS_LV2__ -#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + #endif //__APPLE__ + #endif // LIBSPE2 + #endif //__CELLOS_LV2__ +#endif//_WIN32 ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. #if defined(BT_USE_DOUBLE_PRECISION) - -typedef double btScalar; -//this number could be bigger in double precision -#define BT_LARGE_FLOAT 1e30 + typedef double btScalar; + //this number could be bigger in double precision + #define BT_LARGE_FLOAT 1e30 #else - -typedef float btScalar; -//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX -#define BT_LARGE_FLOAT 1e18f + typedef float btScalar; + //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX + #define BT_LARGE_FLOAT 1e18f #endif #ifdef BT_USE_SSE -typedef __m128 btSimdFloat4; -#endif//BT_USE_SSE + typedef __m128 btSimdFloat4; +#endif //BT_USE_SSE -#if defined (BT_USE_SSE) -//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) -#ifdef _WIN32 +#if defined(BT_USE_SSE) + //#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) + #ifdef _WIN32 -#ifndef BT_NAN -static int btNanMask = 0x7F800001; -#define BT_NAN (*(float*)&btNanMask) -#endif + #ifndef BT_NAN + static int btNanMask = 0x7F800001; + #define BT_NAN (*(float *)&btNanMask) + #endif -#ifndef BT_INFINITY -static int btInfinityMask = 0x7F800000; -#define BT_INFINITY (*(float*)&btInfinityMask) -inline int btGetInfinityMask()//suppress stupid compiler warning -{ - return btInfinityMask; -} -#endif + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float *)&btInfinityMask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask; + } + #endif -//use this, in case there are clashes (such as xnamath.h) -#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS -inline __m128 operator + (const __m128 A, const __m128 B) -{ - return _mm_add_ps(A, B); -} -inline __m128 operator - (const __m128 A, const __m128 B) -{ - return _mm_sub_ps(A, B); -} -inline __m128 operator * (const __m128 A, const __m128 B) -{ - return _mm_mul_ps(A, B); -} -#endif //BT_NO_SIMD_OPERATOR_OVERLOADS + //use this, in case there are clashes (such as xnamath.h) + #ifndef BT_NO_SIMD_OPERATOR_OVERLOADS + inline __m128 operator+(const __m128 A, const __m128 B) + { + return _mm_add_ps(A, B); + } -#define btCastfTo128i(a) (_mm_castps_si128(a)) -#define btCastfTo128d(a) (_mm_castps_pd(a)) -#define btCastiTo128f(a) (_mm_castsi128_ps(a)) -#define btCastdTo128f(a) (_mm_castpd_ps(a)) -#define btCastdTo128i(a) (_mm_castpd_si128(a)) -#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3) + inline __m128 operator-(const __m128 A, const __m128 B) + { + return _mm_sub_ps(A, B); + } -#else//_WIN32 + inline __m128 operator*(const __m128 A, const __m128 B) + { + return _mm_mul_ps(A, B); + } + #endif //BT_NO_SIMD_OPERATOR_OVERLOADS -#define btCastfTo128i(a) ((__m128i)(a)) -#define btCastfTo128d(a) ((__m128d)(a)) -#define btCastiTo128f(a) ((__m128) (a)) -#define btCastdTo128f(a) ((__m128) (a)) -#define btCastdTo128i(a) ((__m128i)(a)) -#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3} -#define BT_INFINITY INFINITY -#define BT_NAN NAN -#endif//_WIN32 -#else + #define btCastfTo128i(a) (_mm_castps_si128(a)) + #define btCastfTo128d(a) (_mm_castps_pd(a)) + #define btCastiTo128f(a) (_mm_castsi128_ps(a)) + #define btCastdTo128f(a) (_mm_castpd_ps(a)) + #define btCastdTo128i(a) (_mm_castpd_si128(a)) + #define btAssign128(r0, r1, r2, r3) _mm_setr_ps(r0, r1, r2, r3) + + #else //_WIN32 + + #define btCastfTo128i(a) ((__m128i)(a)) + #define btCastfTo128d(a) ((__m128d)(a)) + #define btCastiTo128f(a) ((__m128)(a)) + #define btCastdTo128f(a) ((__m128)(a)) + #define btCastdTo128i(a) ((__m128i)(a)) + #define btAssign128(r0, r1, r2, r3) \ + (__m128) { r0, r1, r2, r3 } + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #endif //_WIN32 +#else//BT_USE_SSE + + #ifdef BT_USE_NEON + #include + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0, r1, r2, r3) \ + (float32x4_t) { r0, r1, r2, r3 } + #else //BT_USE_NEON + + #ifndef BT_INFINITY + struct btInfMaskConverter + { + union { + float mask; + int intmask; + }; + btInfMaskConverter(int _mask = 0x7F800000) + : intmask(_mask) + { + } + }; + static btInfMaskConverter btInfinityMask = 0x7F800000; + #define BT_INFINITY (btInfinityMask.mask) + inline int btGetInfinityMask() //suppress stupid compiler warning + { + return btInfinityMask.intmask; + } + #endif + #endif //BT_USE_NEON + +#endif //BT_USE_SSE #ifdef BT_USE_NEON #include @@ -347,193 +396,181 @@ inline __m128 operator * (const __m128 A, const __m128 B) typedef float32x4_t btSimdFloat4; #define BT_INFINITY INFINITY #define BT_NAN NAN - #define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} -#else//BT_USE_NEON - - #ifndef BT_INFINITY - struct btInfMaskConverter - { - union { - float mask; - int intmask; - }; - btInfMaskConverter(int mask=0x7F800000) - :intmask(mask) - { - } - }; - static btInfMaskConverter btInfinityMask = 0x7F800000; - #define BT_INFINITY (btInfinityMask.mask) - inline int btGetInfinityMask()//suppress stupid compiler warning - { - return btInfinityMask.intmask; - } - #endif + #define btAssign128(r0, r1, r2, r3) \ + (float32x4_t) { r0, r1, r2, r3 } #endif//BT_USE_NEON -#endif //BT_USE_SSE - -#ifdef BT_USE_NEON -#include - -typedef float32x4_t btSimdFloat4; -#define BT_INFINITY INFINITY -#define BT_NAN NAN -#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} -#endif - - - - - -#define BT_DECLARE_ALIGNED_ALLOCATOR() \ - SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ - SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ - SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ - SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ - SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ - SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ - - +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void *operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete(void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new(size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void *, void *) {} \ + SIMD_FORCE_INLINE void *operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes, 16); } \ + SIMD_FORCE_INLINE void operator delete[](void *ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void *operator new[](size_t, void *ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void *, void *) {} #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) - -SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } -SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } -SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } -SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } -SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return acos(x); } -SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return asin(x); } -SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } -SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } -SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } -SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } -SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); } -SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } -#else - -SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) -{ -#ifdef USE_APPROXIMATION -#ifdef __LP64__ - float xhalf = 0.5f*y; - int i = *(int*)&y; - i = 0x5f375a86 - (i>>1); - y = *(float*)&i; - y = y*(1.5f - xhalf*y*y); - y = y*(1.5f - xhalf*y*y); - y = y*(1.5f - xhalf*y*y); - y=1/y; - return y; -#else - double x, z, tempf; - unsigned long *tfptr = ((unsigned long *)&tempf) + 1; - tempf = y; - *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ - x = tempf; - z = y*btScalar(0.5); - x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - x = (btScalar(1.5)*x)-(x*x)*(x*z); - return x*y; -#endif -#else - return sqrtf(y); -#endif -} -SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } -SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } -SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } -SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { - if (xbtScalar(1)) - x=btScalar(1); - return acosf(x); -} -SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { - if (xbtScalar(1)) - x=btScalar(1); - return asinf(x); -} -SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } -SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } -SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } -SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } -SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); } -SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } - -#endif + SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) + { + return sqrt(x); + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return acos(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) x = btScalar(-1); + if (x > btScalar(1)) x = btScalar(1); + return asin(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return pow(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmod(x, y); } -#define SIMD_PI btScalar(3.1415926535897932384626433832795029) -#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) -#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) +#else//BT_USE_DOUBLE_PRECISION + + SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) + { + #ifdef USE_APPROXIMATION + #ifdef __LP64__ + float xhalf = 0.5f * y; + int i = *(int *)&y; + i = 0x5f375a86 - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = y * (1.5f - xhalf * y * y); + y = 1 / y; + return y; + #else + double x, z, tempf; + unsigned long *tfptr = ((unsigned long *)&tempf) + 1; + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr) >> 1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y * btScalar(0.5); + x = (btScalar(1.5) * x) - (x * x) * (x * z); /* iteration formula */ + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + x = (btScalar(1.5) * x) - (x * x) * (x * z); + return x * y; + #endif + #else + return sqrtf(y); + #endif + } + SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } + SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } + SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } + SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } + SIMD_FORCE_INLINE btScalar btAcos(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return acosf(x); + } + SIMD_FORCE_INLINE btScalar btAsin(btScalar x) + { + if (x < btScalar(-1)) + x = btScalar(-1); + if (x > btScalar(1)) + x = btScalar(1); + return asinf(x); + } + SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } + SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } + SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } + SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } + SIMD_FORCE_INLINE btScalar btPow(btScalar x, btScalar y) { return powf(x, y); } + SIMD_FORCE_INLINE btScalar btFmod(btScalar x, btScalar y) { return fmodf(x, y); } + +#endif//BT_USE_DOUBLE_PRECISION + +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI (btScalar(2.0) * SIMD_PI) +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) -#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) +#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) - -#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ -#define btRecip(x) (btScalar(1.0)/btScalar(x)) +#define btRecipSqrt(x) ((btScalar)(btScalar(1.0) / btSqrt(btScalar(x)))) /* reciprocal square root */ +#define btRecip(x) (btScalar(1.0) / btScalar(x)) #ifdef BT_USE_DOUBLE_PRECISION -#define SIMD_EPSILON DBL_EPSILON -#define SIMD_INFINITY DBL_MAX -#define BT_ONE 1.0 -#define BT_ZERO 0.0 -#define BT_TWO 2.0 -#define BT_HALF 0.5 + #define SIMD_EPSILON DBL_EPSILON + #define SIMD_INFINITY DBL_MAX + #define BT_ONE 1.0 + #define BT_ZERO 0.0 + #define BT_TWO 2.0 + #define BT_HALF 0.5 #else -#define SIMD_EPSILON FLT_EPSILON -#define SIMD_INFINITY FLT_MAX -#define BT_ONE 1.0f -#define BT_ZERO 0.0f -#define BT_TWO 2.0f -#define BT_HALF 0.5f + #define SIMD_EPSILON FLT_EPSILON + #define SIMD_INFINITY FLT_MAX + #define BT_ONE 1.0f + #define BT_ZERO 0.0f + #define BT_TWO 2.0f + #define BT_HALF 0.5f #endif -SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) +// clang-format on + +SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) { btScalar coeff_1 = SIMD_PI / 4.0f; btScalar coeff_2 = 3.0f * coeff_1; btScalar abs_y = btFabs(y); btScalar angle; - if (x >= 0.0f) { + if (x >= 0.0f) + { btScalar r = (x - abs_y) / (x + abs_y); angle = coeff_1 - coeff_1 * r; - } else { + } + else + { btScalar r = (x + abs_y) / (abs_y - x); angle = coeff_2 - coeff_1 * r; } return (y < 0.0f) ? -angle : angle; } -SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } +SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } -SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { +SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) +{ return (((a) <= eps) && !((a) < -eps)); } -SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) { +SIMD_FORCE_INLINE bool btGreaterEqual(btScalar a, btScalar eps) +{ return (!((a) <= eps)); } - -SIMD_FORCE_INLINE int btIsNegative(btScalar x) { - return x < btScalar(0.0) ? 1 : 0; +SIMD_FORCE_INLINE int btIsNegative(btScalar x) +{ + return x < btScalar(0.0) ? 1 : 0; } SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; } SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; } -#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name +#define BT_DECLARE_HANDLE(name) \ + typedef struct name##__ \ + { \ + int unused; \ + } * name #ifndef btFsel SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) @@ -541,60 +578,57 @@ SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) return a >= 0 ? b : c; } #endif -#define btFsels(a,b,c) (btScalar)btFsel(a,b,c) - +#define btFsels(a, b, c) (btScalar) btFsel(a, b, c) SIMD_FORCE_INLINE bool btMachineIsLittleEndian() { - long int i = 1; - const char *p = (const char *) &i; - if (p[0] == 1) // Lowest address contains the least significant byte - return true; - else - return false; + long int i = 1; + const char *p = (const char *)&i; + if (p[0] == 1) // Lowest address contains the least significant byte + return true; + else + return false; } - - ///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 ///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html -SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) +SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) { - // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero - // Rely on positive value or'ed with its negative having sign bit on - // and zero value or'ed with its negative (which is still zero) having sign bit off - // Use arithmetic shift right, shifting the sign bit through all 32 bits - unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); - unsigned testEqz = ~testNz; - return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); + // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero + // Rely on positive value or'ed with its negative having sign bit on + // and zero value or'ed with its negative (which is still zero) having sign bit off + // Use arithmetic shift right, shifting the sign bit through all 32 bits + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); } SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) { - unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); - unsigned testEqz = ~testNz; - return static_cast((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); } SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) { #ifdef BT_HAVE_NATIVE_FSEL - return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); #else - return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; #endif } -template SIMD_FORCE_INLINE void btSwap(T& a, T& b) +template +SIMD_FORCE_INLINE void btSwap(T &a, T &b) { T tmp = a; a = b; b = tmp; } - //PCK: endian swapping functions SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) { - return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); } SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) @@ -609,127 +643,127 @@ SIMD_FORCE_INLINE unsigned btSwapEndian(int val) SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) { - return btSwapEndian((unsigned short) val); + return btSwapEndian((unsigned short)val); } ///btSwapFloat uses using char pointers to swap the endianness ////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values -///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. -///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. -///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. +///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. +///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. +///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. ///so instead of returning a float/double, we return integer/long long integer -SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) +SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) { - unsigned int a = 0; - unsigned char *dst = (unsigned char *)&a; - unsigned char *src = (unsigned char *)&d; + unsigned int a = 0; + unsigned char *dst = (unsigned char *)&a; + unsigned char *src = (unsigned char *)&d; - dst[0] = src[3]; - dst[1] = src[2]; - dst[2] = src[1]; - dst[3] = src[0]; - return a; + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + return a; } // unswap using char pointers -SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) { - float d = 0.0f; - unsigned char *src = (unsigned char *)&a; - unsigned char *dst = (unsigned char *)&d; + float d = 0.0f; + unsigned char *src = (unsigned char *)&a; + unsigned char *dst = (unsigned char *)&d; - dst[0] = src[3]; - dst[1] = src[2]; - dst[2] = src[1]; - dst[3] = src[0]; - - return d; -} - - -// swap using char pointers -SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) -{ - unsigned char *src = (unsigned char *)&d; - - dst[0] = src[7]; - dst[1] = src[6]; - dst[2] = src[5]; - dst[3] = src[4]; - dst[4] = src[3]; - dst[5] = src[2]; - dst[6] = src[1]; - dst[7] = src[0]; - -} - -// unswap using char pointers -SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) -{ - double d = 0.0; - unsigned char *dst = (unsigned char *)&d; - - dst[0] = src[7]; - dst[1] = src[6]; - dst[2] = src[5]; - dst[3] = src[4]; - dst[4] = src[3]; - dst[5] = src[2]; - dst[6] = src[1]; - dst[7] = src[0]; + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; return d; } -template -SIMD_FORCE_INLINE void btSetZero(T* a, int n) +// swap using char pointers +SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char *dst) { - T* acurr = a; - size_t ncurr = n; - while (ncurr > 0) - { - *(acurr++) = 0; - --ncurr; - } + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; } +// unswap using char pointers +SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) +{ + double d = 0.0; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + + return d; +} + +template +SIMD_FORCE_INLINE void btSetZero(T *a, int n) +{ + T *acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) -{ - btScalar p0,q0,m0,p1,q1,m1,sum; - sum = 0; - n -= 2; - while (n >= 0) { - p0 = a[0]; q0 = b[0]; - m0 = p0 * q0; - p1 = a[1]; q1 = b[1]; - m1 = p1 * q1; - sum += m0; - sum += m1; - a += 2; - b += 2; - n -= 2; - } - n += 2; - while (n > 0) { - sum += (*a) * (*b); - a++; - b++; - n--; - } - return sum; +{ + btScalar p0, q0, m0, p1, q1, m1, sum; + sum = 0; + n -= 2; + while (n >= 0) + { + p0 = a[0]; + q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; + q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) + { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; } - // returns normalized value in range [-SIMD_PI, SIMD_PI] -SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) +SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { angleInRadians = btFmod(angleInRadians, SIMD_2_PI); - if(angleInRadians < -SIMD_PI) + if (angleInRadians < -SIMD_PI) { return angleInRadians + SIMD_2_PI; } - else if(angleInRadians > SIMD_PI) + else if (angleInRadians > SIMD_PI) { return angleInRadians - SIMD_2_PI; } @@ -739,45 +773,38 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) } } - - ///rudimentary class to provide type info struct btTypedObject { btTypedObject(int objectType) - :m_objectType(objectType) + : m_objectType(objectType) { } - int m_objectType; + int m_objectType; inline int getObjectType() const { return m_objectType; } }; - - ///align a pointer to the provided alignment, upwards -template T* btAlignPointer(T* unalignedPtr, size_t alignment) +template +T *btAlignPointer(T *unalignedPtr, size_t alignment) { - struct btConvertPointerSizeT { - union - { - T* ptr; - size_t integer; + union { + T *ptr; + size_t integer; }; }; - btConvertPointerSizeT converter; - - + btConvertPointerSizeT converter; + const size_t bit_mask = ~(alignment - 1); - converter.ptr = unalignedPtr; - converter.integer += alignment-1; + converter.ptr = unalignedPtr; + converter.integer += alignment - 1; converter.integer &= bit_mask; return converter.ptr; } - -#endif //BT_SCALAR_H +#endif //BT_SCALAR_H diff --git a/Engine/lib/bullet/src/LinearMath/btSerializer.cpp b/Engine/lib/bullet/src/LinearMath/btSerializer.cpp index 2b5740b40..fcd2255ad 100644 --- a/Engine/lib/bullet/src/LinearMath/btSerializer.cpp +++ b/Engine/lib/bullet/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), 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+char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), -char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), -char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), 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-char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0), -char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1), -char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1), -char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1), -char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1), 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-char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1), -char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), -char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1), -char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1), -char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1), 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-char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), -char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), -char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), -char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), -char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), -char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), -char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), -char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; -int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/Engine/lib/bullet/src/LinearMath/btSerializer.h b/Engine/lib/bullet/src/LinearMath/btSerializer.h index 6f03df158..89b4d7468 100644 --- a/Engine/lib/bullet/src/LinearMath/btSerializer.h +++ b/Engine/lib/bullet/src/LinearMath/btSerializer.h @@ -26,7 +26,7 @@ subject to the following restrictions: -///only the 32bit versions for now + extern char sBulletDNAstr[]; extern int sBulletDNAlen; extern char sBulletDNAstr64[]; @@ -505,7 +505,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '5'; + buffer[11] = '7'; } diff --git a/Engine/lib/bullet/src/LinearMath/btSerializer64.cpp b/Engine/lib/bullet/src/LinearMath/btSerializer64.cpp new file mode 100644 index 000000000..05f59202d --- /dev/null +++ b/Engine/lib/bullet/src/LinearMath/btSerializer64.cpp @@ -0,0 +1,599 @@ +char sBulletDNAstr64[]= { +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), +char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), 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+char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100), +char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122), +char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77), +char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109), +char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97), 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+char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1), +char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1), +char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1), +char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1), +char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1), +char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1), +char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1), +char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1), +char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1), +char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1), +char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1), +char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1), +char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1), +char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1), +char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),}; +int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/Engine/lib/bullet/src/LinearMath/btThreads.cpp b/Engine/lib/bullet/src/LinearMath/btThreads.cpp index 4bef499f7..59a7ea36e 100644 --- a/Engine/lib/bullet/src/LinearMath/btThreads.cpp +++ b/Engine/lib/bullet/src/LinearMath/btThreads.cpp @@ -14,7 +14,40 @@ subject to the following restrictions: #include "btThreads.h" +#include "btQuickprof.h" +#include // for min and max + +#if BT_USE_OPENMP && BT_THREADSAFE + +#include + +#endif // #if BT_USE_OPENMP && BT_THREADSAFE + + +#if BT_USE_PPL && BT_THREADSAFE + +// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later) +#include // if you get a compile error here, check whether your version of Visual Studio includes PPL +// Visual Studio 2010 and later should come with it +#include // for GetProcessorCount() + +#endif // #if BT_USE_PPL && BT_THREADSAFE + + +#if BT_USE_TBB && BT_THREADSAFE + +// use Intel Threading Building Blocks for thread management +#define __TBB_NO_IMPLICIT_LINKAGE 1 +#include +#include +#include +#include + +#endif // #if BT_USE_TBB && BT_THREADSAFE + + +#if BT_THREADSAFE // // Lightweight spin-mutex based on atomics // Using ordinary system-provided mutexes like Windows critical sections was noticeably slower @@ -22,8 +55,6 @@ subject to the following restrictions: // context switching. // -#if BT_THREADSAFE - #if __cplusplus >= 201103L // for anything claiming full C++11 compliance, use C++11 atomics @@ -169,28 +200,107 @@ void btSpinMutex::unlock() #endif //#else //#elif USE_MSVC_INTRINSICS +#else //#if BT_THREADSAFE + +// These should not be called ever +void btSpinMutex::lock() +{ + btAssert( !"unimplemented btSpinMutex::lock() called" ); +} + +void btSpinMutex::unlock() +{ + btAssert( !"unimplemented btSpinMutex::unlock() called" ); +} + +bool btSpinMutex::tryLock() +{ + btAssert( !"unimplemented btSpinMutex::tryLock() called" ); + return true; +} + +#define THREAD_LOCAL_STATIC static + +#endif // #else //#if BT_THREADSAFE + struct ThreadsafeCounter { unsigned int mCounter; btSpinMutex mMutex; - ThreadsafeCounter() {mCounter=0;} + ThreadsafeCounter() + { + mCounter = 0; + --mCounter; // first count should come back 0 + } unsigned int getNext() { // no need to optimize this with atomics, it is only called ONCE per thread! mMutex.lock(); - unsigned int val = mCounter++; + mCounter++; + if ( mCounter >= BT_MAX_THREAD_COUNT ) + { + btAssert( !"thread counter exceeded" ); + // wrap back to the first worker index + mCounter = 1; + } + unsigned int val = mCounter; mMutex.unlock(); return val; } }; + +static btITaskScheduler* gBtTaskScheduler; +static int gThreadsRunningCounter = 0; // useful for detecting if we are trying to do nested parallel-for calls +static btSpinMutex gThreadsRunningCounterMutex; static ThreadsafeCounter gThreadCounter; -// return a unique index per thread, starting with 0 and counting up +// +// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index. +// +// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if +// certain assumptions about how the task scheduler manages its threads +// holds true. +// The main assumption is: +// - when the threadpool is resized, the task scheduler either +// 1. destroys all worker threads and creates all new ones in the correct number, OR +// 2. never destroys a worker thread +// +// We make that assumption because we can't easily enumerate the worker threads of a task scheduler +// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed, +// so we can't tell when a thread-index is no longer being used. +// We allocate thread-indexes as needed with a sequential global thread counter. +// +// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but +// continues to re-use other threads and the application repeatedly resizes the thread pool of the +// task scheduler. +// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we +// wrap the thread counter back to 1. This should only happen if the worker threads have all been +// destroyed and re-created. +// +// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now, +// but could be adapted to work with pthreads +#define BT_DETECT_BAD_THREAD_INDEX 0 + +#if BT_DETECT_BAD_THREAD_INDEX + +typedef DWORD ThreadId_t; +const static ThreadId_t kInvalidThreadId = 0; +ThreadId_t gDebugThreadIds[ BT_MAX_THREAD_COUNT ]; + +static ThreadId_t getDebugThreadId() +{ + return GetCurrentThreadId(); +} + +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + +// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT) unsigned int btGetCurrentThreadIndex() { const unsigned int kNullIndex = ~0U; @@ -198,7 +308,30 @@ unsigned int btGetCurrentThreadIndex() if ( sThreadIndex == kNullIndex ) { sThreadIndex = gThreadCounter.getNext(); + btAssert( sThreadIndex < BT_MAX_THREAD_COUNT ); } +#if BT_DETECT_BAD_THREAD_INDEX + if ( gBtTaskScheduler && sThreadIndex > 0 ) + { + ThreadId_t tid = getDebugThreadId(); + // if not set + if ( gDebugThreadIds[ sThreadIndex ] == kInvalidThreadId ) + { + // set it + gDebugThreadIds[ sThreadIndex ] = tid; + } + else + { + if ( gDebugThreadIds[ sThreadIndex ] != tid ) + { + // this could indicate the task scheduler is breaking our assumptions about + // how threads are managed when threadpool is resized + btAssert( !"there are 2 or more threads with the same thread-index!" ); + __debugbreak(); + } + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX return sThreadIndex; } @@ -207,24 +340,383 @@ bool btIsMainThread() return btGetCurrentThreadIndex() == 0; } +void btResetThreadIndexCounter() +{ + // for when all current worker threads are destroyed + btAssert( btIsMainThread() ); + gThreadCounter.mCounter = 0; +} + +btITaskScheduler::btITaskScheduler( const char* name ) +{ + m_name = name; + m_savedThreadCounter = 0; + m_isActive = false; +} + +void btITaskScheduler::activate() +{ + // gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler. + // The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1) + // The thread-indexes need to be unique amongst the threads that can be running simultaneously. + // Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different + // task schedulers to share the same thread index because they can't be running at the same time. + // So each task scheduler needs to keep its own thread counter value + if ( !m_isActive ) + { + gThreadCounter.mCounter = m_savedThreadCounter; // restore saved thread counter + m_isActive = true; + } +} + +void btITaskScheduler::deactivate() +{ + if ( m_isActive ) + { + m_savedThreadCounter = gThreadCounter.mCounter; // save thread counter + m_isActive = false; + } +} + +void btPushThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter++; + gThreadsRunningCounterMutex.unlock(); +} + +void btPopThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter--; + gThreadsRunningCounterMutex.unlock(); +} + +bool btThreadsAreRunning() +{ + return gThreadsRunningCounter != 0; +} + + +void btSetTaskScheduler( btITaskScheduler* ts ) +{ + int threadId = btGetCurrentThreadIndex(); // make sure we call this on main thread at least once before any workers run + if ( threadId != 0 ) + { + btAssert( !"btSetTaskScheduler must be called from the main thread!" ); + return; + } + if ( gBtTaskScheduler ) + { + // deactivate old task scheduler + gBtTaskScheduler->deactivate(); + } + gBtTaskScheduler = ts; + if ( ts ) + { + // activate new task scheduler + ts->activate(); + } +} + + +btITaskScheduler* btGetTaskScheduler() +{ + return gBtTaskScheduler; +} + + +void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) +{ +#if BT_THREADSAFE + +#if BT_DETECT_BAD_THREAD_INDEX + if ( !btThreadsAreRunning() ) + { + // clear out thread ids + for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i ) + { + gDebugThreadIds[ i ] = kInvalidThreadId; + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + btAssert( gBtTaskScheduler != NULL ); // call btSetTaskScheduler() with a valid task scheduler first! + gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body ); + #else // #if BT_THREADSAFE -// These should not be called ever -void btSpinMutex::lock() -{ - btAssert(!"unimplemented btSpinMutex::lock() called"); + // non-parallel version of btParallelFor + btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" ); + body.forLoop( iBegin, iEnd ); + +#endif// #if BT_THREADSAFE } -void btSpinMutex::unlock() + +/// +/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler +/// (really just useful for testing performance of single threaded vs multi) +/// +class btTaskSchedulerSequential : public btITaskScheduler { - btAssert(!"unimplemented btSpinMutex::unlock() called"); +public: + btTaskSchedulerSequential() : btITaskScheduler( "Sequential" ) {} + virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; } + virtual int getNumThreads() const BT_OVERRIDE { return 1; } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE {} + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_sequential" ); + body.forLoop( iBegin, iEnd ); + } +}; + + +#if BT_USE_OPENMP && BT_THREADSAFE +/// +/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler +/// +class btTaskSchedulerOpenMP : public btITaskScheduler +{ + int m_numThreads; +public: + btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" ) + { + m_numThreads = 0; + } + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return omp_get_max_threads(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + // With OpenMP, because it is a standard with various implementations, we can't + // know for sure if every implementation has the same behavior of destroying all + // previous threads when resizing the threadpool + m_numThreads = ( std::max )( 1, ( std::min )( int( BT_MAX_THREAD_COUNT ), numThreads ) ); + omp_set_num_threads( 1 ); // hopefully, all previous threads get destroyed here + omp_set_num_threads( m_numThreads ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_OpenMP" ); + btPushThreadsAreRunning(); +#pragma omp parallel for schedule( static, 1 ) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + BT_PROFILE( "OpenMP_job" ); + body.forLoop( i, ( std::min )( i + grainSize, iEnd ) ); + } + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_OPENMP && BT_THREADSAFE + + +#if BT_USE_TBB && BT_THREADSAFE +/// +/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler +/// +class btTaskSchedulerTBB : public btITaskScheduler +{ + int m_numThreads; + tbb::task_scheduler_init* m_tbbSchedulerInit; + +public: + btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" ) + { + m_numThreads = 0; + m_tbbSchedulerInit = NULL; + } + ~btTaskSchedulerTBB() + { + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + } + + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return tbb::task_scheduler_init::default_num_threads(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + m_numThreads = ( std::max )( 1, ( std::min )( int(BT_MAX_THREAD_COUNT), numThreads ) ); + if ( m_tbbSchedulerInit ) + { + // destroys all previous threads + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + struct BodyAdapter + { + const btIParallelForBody* mBody; + + void operator()( const tbb::blocked_range& range ) const + { + BT_PROFILE( "TBB_job" ); + mBody->forLoop( range.begin(), range.end() ); + } + }; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_TBB" ); + // TBB dispatch + BodyAdapter tbbBody; + tbbBody.mBody = &body; + btPushThreadsAreRunning(); + tbb::parallel_for( tbb::blocked_range( iBegin, iEnd, grainSize ), + tbbBody, + tbb::simple_partitioner() + ); + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_TBB && BT_THREADSAFE + + +#if BT_USE_PPL && BT_THREADSAFE +/// +/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler +/// +class btTaskSchedulerPPL : public btITaskScheduler +{ + int m_numThreads; +public: + btTaskSchedulerPPL() : btITaskScheduler( "PPL" ) + { + m_numThreads = 0; + } + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return concurrency::GetProcessorCount(); + } + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + // capping the thread count for PPL due to a thread-index issue + const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31); + m_numThreads = ( std::max )( 1, ( std::min )( maxThreadCount, numThreads ) ); + using namespace concurrency; + if ( CurrentScheduler::Id() != -1 ) + { + CurrentScheduler::Detach(); + } + SchedulerPolicy policy; + { + // PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads + // force it to destroy old threads + policy.SetConcurrencyLimits( 1, 1 ); + CurrentScheduler::Create( policy ); + CurrentScheduler::Detach(); + } + policy.SetConcurrencyLimits( m_numThreads, m_numThreads ); + CurrentScheduler::Create( policy ); + m_savedThreadCounter = 0; + if ( m_isActive ) + { + btResetThreadIndexCounter(); + } + } + struct BodyAdapter + { + const btIParallelForBody* mBody; + int mGrainSize; + int mIndexEnd; + + void operator()( int i ) const + { + BT_PROFILE( "PPL_job" ); + mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); + } + }; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_PPL" ); + // PPL dispatch + BodyAdapter pplBody; + pplBody.mBody = &body; + pplBody.mGrainSize = grainSize; + pplBody.mIndexEnd = iEnd; + btPushThreadsAreRunning(); + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + btPopThreadsAreRunning(); + } +}; +#endif // #if BT_USE_PPL && BT_THREADSAFE + + +// create a non-threaded task scheduler (always available) +btITaskScheduler* btGetSequentialTaskScheduler() +{ + static btTaskSchedulerSequential sTaskScheduler; + return &sTaskScheduler; } -bool btSpinMutex::tryLock() + +// create an OpenMP task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetOpenMPTaskScheduler() { - btAssert(!"unimplemented btSpinMutex::tryLock() called"); - return true; +#if BT_USE_OPENMP && BT_THREADSAFE + static btTaskSchedulerOpenMP sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif } -#endif // #else // #if BT_THREADSAFE + +// create an Intel TBB task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetTBBTaskScheduler() +{ +#if BT_USE_TBB && BT_THREADSAFE + static btTaskSchedulerTBB sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif +} + + +// create a PPL task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetPPLTaskScheduler() +{ +#if BT_USE_PPL && BT_THREADSAFE + static btTaskSchedulerPPL sTaskScheduler; + return &sTaskScheduler; +#else + return NULL; +#endif +} diff --git a/Engine/lib/bullet/src/LinearMath/btThreads.h b/Engine/lib/bullet/src/LinearMath/btThreads.h index db710979f..05fd15ec8 100644 --- a/Engine/lib/bullet/src/LinearMath/btThreads.h +++ b/Engine/lib/bullet/src/LinearMath/btThreads.h @@ -19,6 +19,23 @@ subject to the following restrictions: #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#if defined (_MSC_VER) && _MSC_VER >= 1600 +// give us a compile error if any signatures of overriden methods is changed +#define BT_OVERRIDE override +#endif + +#ifndef BT_OVERRIDE +#define BT_OVERRIDE +#endif + +const unsigned int BT_MAX_THREAD_COUNT = 64; // only if BT_THREADSAFE is 1 + +// for internal use only +bool btIsMainThread(); +bool btThreadsAreRunning(); +unsigned int btGetCurrentThreadIndex(); +void btResetThreadIndexCounter(); // notify that all worker threads have been destroyed + /// /// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts /// a thread to sleep because it is designed to be used with a task scheduler @@ -39,38 +56,100 @@ public: bool tryLock(); }; -#if BT_THREADSAFE -// for internal Bullet use only +// +// NOTE: btMutex* is for internal Bullet use only +// +// If BT_THREADSAFE is undefined or 0, should optimize away to nothing. +// This is good because for the single-threaded build of Bullet, any calls +// to these functions will be optimized out. +// +// However, for users of the multi-threaded build of Bullet this is kind +// of bad because if you call any of these functions from external code +// (where BT_THREADSAFE is undefined) you will get unexpected race conditions. +// SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) { +#if BT_THREADSAFE mutex->lock(); +#endif // #if BT_THREADSAFE } SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) { +#if BT_THREADSAFE mutex->unlock(); +#endif // #if BT_THREADSAFE } SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) { +#if BT_THREADSAFE return mutex->tryLock(); +#else + return true; +#endif // #if BT_THREADSAFE } -// for internal use only -bool btIsMainThread(); -unsigned int btGetCurrentThreadIndex(); -const unsigned int BT_MAX_THREAD_COUNT = 64; -#else +// +// btIParallelForBody -- subclass this to express work that can be done in parallel +// +class btIParallelForBody +{ +public: + virtual ~btIParallelForBody() {} + virtual void forLoop( int iBegin, int iEnd ) const = 0; +}; + +// +// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to +// worker threads +// +class btITaskScheduler +{ +public: + btITaskScheduler( const char* name ); + virtual ~btITaskScheduler() {} + const char* getName() const { return m_name; } + + virtual int getMaxNumThreads() const = 0; + virtual int getNumThreads() const = 0; + virtual void setNumThreads( int numThreads ) = 0; + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0; + + // internal use only + virtual void activate(); + virtual void deactivate(); + +protected: + const char* m_name; + unsigned int m_savedThreadCounter; + bool m_isActive; +}; + +// set the task scheduler to use for all calls to btParallelFor() +// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes +void btSetTaskScheduler( btITaskScheduler* ts ); + +// get the current task scheduler +btITaskScheduler* btGetTaskScheduler(); + +// get non-threaded task scheduler (always available) +btITaskScheduler* btGetSequentialTaskScheduler(); + +// get OpenMP task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetOpenMPTaskScheduler(); + +// get Intel TBB task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetTBBTaskScheduler(); + +// get PPL task scheduler (if available, otherwise returns null) +btITaskScheduler* btGetPPLTaskScheduler(); + +// btParallelFor -- call this to dispatch work like a for-loop +// (iterations may be done out of order, so no dependencies are allowed) +void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ); -// for internal Bullet use only -// if BT_THREADSAFE is undefined or 0, should optimize away to nothing -SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {} -SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {} -SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;} #endif - - -#endif //BT_THREADS_H diff --git a/Engine/lib/bullet/src/LinearMath/btTransformUtil.h b/Engine/lib/bullet/src/LinearMath/btTransformUtil.h index 2303c2742..182cc43fa 100644 --- a/Engine/lib/bullet/src/LinearMath/btTransformUtil.h +++ b/Engine/lib/bullet/src/LinearMath/btTransformUtil.h @@ -47,13 +47,19 @@ public: #ifdef QUATERNION_DERIVATIVE btQuaternion predictedOrn = curTrans.getRotation(); predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); - predictedOrn.normalize(); + predictedOrn.safeNormalize(); #else //Exponential map //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia btVector3 axis; - btScalar fAngle = angvel.length(); + btScalar fAngle2 = angvel.length2(); + btScalar fAngle = 0; + if (fAngle2>SIMD_EPSILON) + { + fAngle = btSqrt(fAngle2); + } + //limit the angular motion if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD) { @@ -74,9 +80,16 @@ public: btQuaternion orn0 = curTrans.getRotation(); btQuaternion predictedOrn = dorn * orn0; - predictedOrn.normalize(); + predictedOrn.safeNormalize(); #endif - predictedTransform.setRotation(predictedOrn); + if (predictedOrn.length2()>SIMD_EPSILON) + { + predictedTransform.setRotation(predictedOrn); + } + else + { + predictedTransform.setBasis(curTrans.getBasis()); + } } static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel) diff --git a/Engine/lib/bullet/src/LinearMath/btVector3.h b/Engine/lib/bullet/src/LinearMath/btVector3.h index 487670009..fdf3fd796 100644 --- a/Engine/lib/bullet/src/LinearMath/btVector3.h +++ b/Engine/lib/bullet/src/LinearMath/btVector3.h @@ -291,14 +291,16 @@ public: SIMD_FORCE_INLINE btVector3& safeNormalize() { - btVector3 absVec = this->absolute(); - int maxIndex = absVec.maxAxis(); - if (absVec[maxIndex]>0) + btScalar l2 = length2(); + //triNormal.normalize(); + if (l2 >= SIMD_EPSILON*SIMD_EPSILON) { - *this /= absVec[maxIndex]; - return *this /= length(); + (*this) /= btSqrt(l2); + } + else + { + setValue(1, 0, 0); } - setValue(1,0,0); return *this; } @@ -1157,7 +1159,6 @@ public: if (m_floats[3] > maxVal) { maxIndex = 3; - maxVal = m_floats[3]; } return maxIndex; diff --git a/Engine/lib/bullet/src/btBulletCollisionCommon.h b/Engine/lib/bullet/src/btBulletCollisionCommon.h index af981b5d3..948e02eb4 100644 --- a/Engine/lib/bullet/src/btBulletCollisionCommon.h +++ b/Engine/lib/bullet/src/btBulletCollisionCommon.h @@ -52,7 +52,6 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" #include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" -#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h" #include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h" ///Math library & Utils